Source Code
|
These source-code files are part of a reconstructed copy of Luminary 97, the
original release 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 memos 83 and 85, using asterisks
indicating changed lines in the listing as a guide. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
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 97 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.
|
052492,000002: ## Copyright: Public domain.
052493,000003: ## Filename: INFLIGHT_ALIGNMENT_ROUTINES.agc
052494,000004: ## Purpose: A section of Luminary revision 97.
052495,000005: ## It is part of the reconstructed source code for the
052496,000006: ## original release of the flight software for the Lunar
052497,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
052498,000008: ## The code has been recreated from a copy of Luminary 99
052499,000009: ## revision 001, using asterisks indicating changed lines in
052500,000010: ## the listing and Luminary Memos #83 and #85, which list
052501,000011: ## changes between Luminary 97 and 98, and 98 and 99. The
052502,000012: ## code has been adapted such that the resulting bugger words
052503,000013: ## exactly match those specified for Luminary 97 in NASA drawing
052504,000014: ## 2021152D, which gives relatively high confidence that the
052505,000015: ## reconstruction is correct.
052506,000016: ## Reference: pp. 1249-1258
052507,000017: ## Assembler: yaYUL
052508,000018: ## Contact: Ron Burkey <info@sandroid.org>.
052509,000019: ## Website: www.ibiblio.org/apollo/index.html
052510,000020: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
052511,000021:
|
|
Page 1249
|
052513,000023: 22,3773 BANK 22
052514,000024: 23,2000 SETLOC INFLIGHT
052515,000025: 23,2000 BANK
052516,000026:
052517,000027: 23,3247 E5,1642 EBANK= XSM
052518,000028:
052519,000029: # CALCGTA COMPUTES THE GYRO TORQUE ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
052520,000030:
052521,000031: # THE INPUT IS THE DESIRED STABLE MEMBER COORDINATES REFERRED TO PRESENT STABLE MEMBER COORDINATES. THE THREE
052522,000032: # HALF-UNIT VECTORS ARE STORED AT XDC, YDC, AND ZDC.
052523,000033:
052524,000034: # THE OUTPUTS ARE THE THREE GYRO TORQUING ANGLES TO BE APPLIED TO THE Y, Z, AND X GYROS AND ARE STORED DP AT IGC,
052525,000035: # MGC, AND OGC RESPECTIVELY.
052526,000036:
052527,000037: 23,3247 COUNT* $$/INFLT
052528,000038: 23,3247 71220 CALCGTA ITA DLOAD # PUSHDOWN 00-03, 16D-27D, 34D-37D
052529,000039: 23,3250 00051 S2 # XDC = (XD1 XD2 XD3)
052530,000040: 23,3251 02665 XDC # YDC = (YD1 YD2 YD3)
052531,000041: 23,3252 65325 PDDL PDDL # ZDC = (ZD1 ZD2 ZD3)
052532,000042: 23,3253 06522 HI6ZEROS
052533,000043: 23,3254 02671 XDC +4
052534,000044: 23,3255 55476 DCOMP VDEF
052535,000045: 23,3256 77656 UNIT
052536,000046: 23,3257 14027 STODL ZPRIME # ZP = UNIT(-XD3 0 XD1) = (ZP1 ZP2 ZP3)
052537,000047: 23,3260 00027 ZPRIME
052538,000048:
052539,000049: 23,3261 77742 SR1
052540,000050: 23,3262 14023 STODL SINTH # SIN(IGC) = ZP1
052541,000051: 23,3263 00033 ZPRIME +4
052542,000052: 23,3264 77742 SR1
052543,000053: 23,3265 34021 STCALL COSTH # COS(IGC) = ZP3
052544,000054: 23,3266 47320 ARCTRIG
052545,000055:
052546,000056: 23,3267 16742 STODL IGC # Y GYRO TORQUING ANGLE FRACTION OF REV.
052547,000057: 23,3270 02667 XDC +2
052548,000058: 23,3271 77742 SR1
052549,000059: 23,3272 14023 STODL SINTH # SIN(MGC) = XD2
052550,000060: 23,3273 00027 ZPRIME
052551,000061:
052552,000062: 23,3274 65205 DMP PDDL
052553,000063: 23,3275 02671 XDC +4 # PD00 = (ZP1)(XD3)
052554,000064: 23,3276 00033 ZPRIME +4
052555,000065:
052556,000066: 23,3277 45205 DMP DSU
052557,000067: 23,3300 02665 XDC # MPAC = (ZP3)(XD1)
052558,000068: 23,3301 77626 STADR
052559,000069: 23,3302 43756 STCALL COSTH # COS(MGC) = MPAC - PD00
052560,000070: 23,3303 47320 ARCTRIG
|
|
Page 1250
|
052562,000072: 23,3304 26744 STOVL MGC # Z GYRO TORQUING ANGLE FRACTION OF REV.
052563,000073: 23,3305 00027 ZPRIME
052564,000074: 23,3306 77641 DOT
052565,000075: 23,3307 02701 ZDC
052566,000076: 23,3310 24021 STOVL COSTH # COS(OGC) = ZP . ZDC
052567,000077: 23,3311 00027 ZPRIME
052568,000078: 23,3312 77641 DOT
052569,000079: 23,3313 02673 YDC
052570,000080: 23,3314 34023 STCALL SINTH # SIN(OGC) = ZP . YDC
052571,000081: 23,3315 47320 ARCTRIG
052572,000082:
052573,000083: 23,3316 36740 STCALL OGC # X GYRO TORQUING ANGLE FRACTION OF REV.
052574,000084: 23,3317 00051 S2
052575,000085:
|
|
Page 1251
|
052577,000087: # ARCTRIG COMPUTES AN ANGLE GIVEN THE SINE AND COSINE OF THIS ANGLE.
052578,000088:
052579,000089: # THE INPUTS ARE SIN/4 AND COS/4 STORED DP AT SINTH AND COSTH.
052580,000090:
052581,000091: # THE OUTPUT IS THE CALCULATED ANGLE BETWEEN +.5 AND -.5 REVOLUTIONS AND STORED AT THETA. THE OUTPUT IS ALSO
052582,000092: # AVAILABLE AT MPAC.
052583,000093:
052584,000094: 23,3320 51545 ARCTRIG DLOAD ABS # PUSHDOWN 16D-21D
052585,000095: 23,3321 00023 SINTH
052586,000096: 23,3322 50025 DSU BMN
052587,000097: 23,3323 07534 QTSN45 # ABS(SIN/4) - SIN(45)/4
052588,000098: 23,3324 47333 TRIG1 # IF (-45,45) OR (135,-135)
052589,000099:
052590,000100: 23,3325 72545 DLOAD SL1 # (45,135) OR (-135,-45)
052591,000101: 23,3326 00021 COSTH
052592,000102: 23,3327 75326 ACOS SIGN
052593,000103: 23,3330 00023 SINTH
052594,000104: 23,3331 00025 STORE THETA # X = ARCCOS(COS) WITH SIGN(SIN)
052595,000105: 23,3332 77616 RVQ
052596,000106:
052597,000107: 23,3333 72545 TRIG1 DLOAD SL1 # (-45,45) OR (135,-135)
052598,000108: 23,3334 00023 SINTH
052599,000109: 23,3335 77736 ASIN
052600,000110: 23,3336 14025 STODL THETA # X = ARCSIN(SIN) WITH SIGN(SIN)
052601,000111: 23,3337 00021 COSTH
052602,000112: 23,3340 77640 BMN
052603,000113: 23,3341 47344 TRIG2 # IF (135,-135)
052604,000114:
052605,000115: 23,3342 43545 DLOAD RVQ
052606,000116: 23,3343 00025 THETA # X = ARCSIN(SIN) (-45,45)
052607,000117:
052608,000118: 23,3344 75345 TRIG2 DLOAD SIGN # (135,-135)
052609,000119: 23,3345 06520 HIDPHALF
052610,000120: 23,3346 00023 SINTH
052611,000121: 23,3347 77625 DSU
052612,000122: 23,3350 00025 THETA
052613,000123: 23,3351 00025 STORE THETA # X = .5 WITH SIGN(SIN) - ARCSIN(SIN)
052614,000124: 23,3352 77616 RVQ # (+) - (+) OR (-) - (-)
052615,000125:
|
|
Page 1252
|
052617,000127: # SMNB, NBSM, AND AXISROT, WHICH USED TO APPEAR HERE, HAVE BEEN
052618,000128: # COMBINED IN A ROUTINE CALLED AX*SR*T, WHICH APPEARS AMONG THE POWERED
052619,000129: # FLIGHT SUBROUTINES.
052620,000130:
|
|
Page 1253
|
052622,000132: # CALCGA COMPUTES THE CDU DRIVING ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
052623,000133:
052624,000134: # THE INPUTS ARE 1) THE NAVIGATION BASE COORDINATES REFERRED TO ANY COORDINATE SYSTEM. THE THREE HALF-UNIT
052625,000135: # VECTORS ARE STORED AT XNB, YNB, AND ZNB. 2) THE DESIRED STABLE MEMBER COORDINATES REFERRED TO THE SAME
052626,000136: # COORDINATE SYSTEM ARE STORED AT XSM, YSM, AND ZSM.
052627,000137:
052628,000138: # THE OUTPUTS ARE THE THREE CDU DRIVING ANGLES AND ARE STORED SP AT THETAD, THETAD +1, AND THETAD +2.
052629,000139:
052630,000140: 23,3353 77601 CALCGA SETPD # PUSHDOWN 00-05, 16D-21D, 34D-37D
052631,000141: 23,3354 00001 0
052632,000142: 23,3355 47375 VLOAD VXV
052633,000143: 23,3356 02665 XNB # XNB = OGA (OUTER GIMBAL AXIS)
052634,000144: 23,3357 02651 YSM # YSM = IGA (INNER GIMBAL AXIS)
052635,000145: 23,3360 41456 UNIT PUSH # PD0 = UNIT(OGA X IGA) = MGA
052636,000146:
052637,000147: 23,3361 44041 DOT ITA
052638,000148: 23,3362 02701 ZNB
052639,000149: 23,3363 00051 S2
052640,000150: 23,3364 24021 STOVL COSTH # COS(OG) = MGA . ZNB
052641,000151: 23,3365 00001 0
052642,000152: 23,3366 77641 DOT
052643,000153: 23,3367 02673 YNB
052644,000154: 23,3370 34023 STCALL SINTH # SIN(OG) = MGA . YNB
052645,000155: 23,3371 47320 ARCTRIG
052646,000156: 23,3372 26740 STOVL OGC
052647,000157: 23,3373 00001 0
052648,000158:
052649,000159: 23,3374 50235 VXV DOT # PROVISION FOR MG ANGLE OF 90 DEGREES
052650,000160: 23,3375 02665 XNB
052651,000161: 23,3376 02651 YSM
052652,000162: 23,3377 77752 SL1
052653,000163: 23,3400 24021 STOVL COSTH # COS(MG) = IGA . (MGA X OGA)
052654,000164: 23,3401 02651 YSM
052655,000165: 23,3402 77641 DOT
052656,000166: 23,3403 02665 XNB
052657,000167: 23,3404 34023 STCALL SINTH # SIN(MG) = IGA . OGA
052658,000168: 23,3405 47320 ARCTRIG
052659,000169: 23,3406 02744 STORE MGC
052660,000170:
052661,000171: 23,3407 45246 ABS DSU
052662,000172: 23,3410 07536 .166...
052663,000173: 23,3411 77644 BPL
052664,000174: 23,3412 47431 GIMLOCK1 # IF ANGLE GREATER THAN 60 DEGREES
052665,000175:
052666,000176: 23,3413 50375 CALCGA1 VLOAD DOT
052667,000177: 23,3414 02657 ZSM
052668,000178: 23,3415 00001 0
052669,000179: 23,3416 24021 STOVL COSTH # COS(IG) = ZSM . MGA
052670,000180: 23,3417 02643 XSM
|
|
Page 1254
|
052672,000182: 23,3420 45441 DOT STADR
052673,000183: 23,3421 43754 STCALL SINTH # SIN(IG) = XSM . MGA
052674,000184: 23,3422 47320 ARCTRIG
052675,000185:
052676,000186: 23,3423 26742 STOVL IGC
052677,000187: 23,3424 02740 OGC
052678,000188: 23,3425 77634 RTB
052679,000189: 23,3426 21620 V1STO2S
052680,000190: 23,3427 34322 STCALL THETAD
052681,000191: 23,3430 00051 S2
052682,000192:
052683,000193: 23,3431 77776 GIMLOCK1 EXIT
052684,000194: 23,3432 05567 TC ALARM
052685,000195: 23,3433 00401 OCT 00401
052686,000196: 23,3434 05504 TC UPFLAG # GIMBAL LOCK HAS OCCURED
052687,000197: 23,3435 00056 ADRES GLOKFAIL
052688,000198:
052689,000199: 23,3436 06037 TC INTPRET
052690,000200: 23,3437 77650 GOTO
052691,000201: 23,3440 47413 CALCGA1
052692,000202:
|
|
Page 1255
|
052694,000204: # AXISGEN COMPUTES THE COORDINATES OF ONE COORDINATE SYSTEM REFERRED TO ANOTHER COORDINATE SYSTEM.
052695,000205:
052696,000206: # THE INPUTS ARE 1) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM A STORED AT STARAD. 2) THE STAR2 VECTOR
052697,000207: # REFERRED TO COORDINATE SYSTEM A STORED AT STARAD +6. 3) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM B STORED
052698,000208: # AT LOCATION 6 OF THE VAC AREA. 4) THE STAR2 VECTOR REFERRED TO COORDINATE SYSTEM B STORED AT LOCATION 12D OF
052699,000209: # THE VAC AREA.
052700,000210:
052701,000211: # THE OUTPUT DEFINES COORDINATE SYSTEM A REFERRED TO COORDINATE SYSTEM B. THE THREE HALF-UNIT VECTORS ARE STORED
052702,000212: # AT LOCATIONS XDC, XDC +6, XDC +12D, AND STARAD, STARAD +6, STARAD +12D.
052703,000213:
052704,000214: 23,3441 66370 AXISGEN AXT,1 SSP # PUSHDOWN 00-30D, 34D-37D
052705,000215: 23,3442 02714 STARAD +6
052706,000216: 23,3443 00051 S1
052707,000217: 23,3444 02700 STARAD -6
052708,000218:
052709,000219: 23,3445 77601 SETPD
052710,000220: 23,3446 00001 0
052711,000221: 23,3447 46773 AXISGEN1 VLOAD* VXV* # 06D UA = S1
052712,000222: 23,3450 02723 STARAD +12D,1 # STARAD +00D UB = S1
052713,000223: 23,3451 02731 STARAD +18D,1
052714,000224: 23,3452 77656 UNIT # 12D VA = UNIT(S1 X S2)
052715,000225: 23,3453 06731 STORE STARAD +18D,1 # STARAD +06D VB = UNIT(S1 X S2)
052716,000226: 23,3454 77773 VLOAD*
052717,000227: 23,3455 02723 STARAD +12D,1
052718,000228:
052719,000229: 23,3456 76433 VXV* VSL1
052720,000230: 23,3457 02731 STARAD +18D,1 # 18D WA = UA X VA
052721,000231: 23,3460 06737 STORE STARAD +24D,1 # STARAD +12D WB = UB X VB
052722,000232:
052723,000233: 23,3461 77700 TIX,1
052724,000234: 23,3462 47447 AXISGEN1
052725,000235:
052726,000236: 23,3463 66160 AXC,1 SXA,1
052727,000237: 23,3464 00006 6
052728,000238: 23,3465 00036 30D
052729,000239:
052730,000240: 23,3466 66370 AXT,1 SSP
052731,000241: 23,3467 00022 18D
052732,000242: 23,3470 00051 S1
052733,000243: 23,3471 00006 6
052734,000244:
052735,000245: 23,3472 66374 AXT,2 SSP
052736,000246: 23,3473 00006 6
052737,000247: 23,3474 00052 S2
052738,000248: 23,3475 00002 2
052739,000249:
052740,000250: 23,3476 76720 AXISGEN2 XCHX,1 VLOAD*
052741,000251: 23,3477 00036 30D # X1=-6 X2=+6 X1=-6 X2=+4 X1=-6 X2=+2
052742,000252: 23,3500 00001 0,1
052743,000253:
|
|
Page 1256
|
052745,000255: 23,3501 62757 VXSC* PDVL* # J=(UA)(UB1) J=(UA)(UB2) J=(UA)(UB3)
052746,000256: 23,3502 75062 STARAD +6,2
052747,000257: 23,3503 00007 6,1
052748,000258: 23,3504 77757 VXSC*
052749,000259: 23,3505 75054 STARAD +12D,2
052750,000260: 23,3506 30031 STOVL* 24D # K=(VA)(VB1) J=(VA)(VB2) J=(VA)(VB3)
052751,000261: 23,3507 00015 12D,1
052752,000262:
052753,000263: 23,3510 53357 VXSC* VAD
052754,000264: 23,3511 75046 STARAD +18D,2 # L=(WA)(WB1) J=(WA)(WB2) J=(WA)(WB3)
052755,000265: 23,3512 76455 VAD VSL1
052756,000266: 23,3513 00031 24D
052757,000267: 23,3514 53520 XCHX,1 UNIT
052758,000268: 23,3515 00036 30D
052759,000269: 23,3516 06707 STORE XDC +18D,1 # XDC = L+J+K YDC = L+J+K ZDC = L+J+K
052760,000270:
052761,000271: 23,3517 77700 TIX,1
052762,000272: 23,3520 47521 AXISGEN3
052763,000273:
052764,000274: 23,3521 77704 AXISGEN3 TIX,2
052765,000275: 23,3522 47476 AXISGEN2
052766,000276:
052767,000277: 23,3523 77775 VLOAD
052768,000278: 23,3524 02665 XDC
052769,000279: 23,3525 26707 STOVL STARAD
052770,000280: 23,3526 02673 YDC
052771,000281: 23,3527 26715 STOVL STARAD +6
052772,000282: 23,3530 02701 ZDC
052773,000283: 23,3531 02723 STORE STARAD +12D
052774,000284:
052775,000285: 23,3532 77616 RVQ
052776,000286:
|
|
Page 1257
|
052778,000288: 23,3533 05520 26075 QTSN45 2DEC .1768
052779,000289:
052780,000290: 23,3535 05252 25253 .166... 2DEC .1666666667
052781,000291:
|
|
Page 1258
Empty page
|
052784,000294:
End of include-file INFLIGHT_ALIGNMENT_ROUTINES.agc. Parent file is MAIN.agc