Source Code
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These source-code files are part of a reconstructed copy of Luminary 163, the
first (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with reconstructed source code for Luminary 173. Changes
between revision 163 and 173 were backed out, as described by Luminary memos 157
and 158. 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 163 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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052806,000002: ## Copyright: Public domain.
052807,000003: ## Filename: INFLIGHT_ALIGNMENT_ROUTINES.agc
052808,000004: ## Purpose: A section of Luminary revision 163.
052809,000005: ## It is part of the reconstructed source code for the first
052810,000006: ## (unflown) release of the flight software for the Lunar
052811,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
052812,000008: ## The code has been recreated from a reconstructed copy of
052813,000009: ## Luminary 173, as well as Luminary memos 157 amd 158.
052814,000010: ## It has been adapted such that the resulting bugger words
052815,000011: ## exactly match those specified for Luminary 163 in NASA
052816,000012: ## drawing 2021152N, which gives relatively high confidence
052817,000013: ## that the reconstruction is correct.
052818,000014: ## Reference: pp. 1238-1247
052819,000015: ## Assembler: yaYUL
052820,000016: ## Contact: Ron Burkey <info@sandroid.org>.
052821,000017: ## Website: www.ibiblio.org/apollo/index.html
052822,000018: ## Mod history: 2019-08-21 MAS Created from Luminary 173.
052823,000019:
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Page 1238
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052825,000021: 22,3772 BANK 22
052826,000022: 23,2000 SETLOC INFLIGHT
052827,000023: 23,2000 BANK
052828,000024:
052829,000025: 23,3245 E5,1642 EBANK= XSM
052830,000026:
052831,000027: # CALCGTA COMPUTES THE GYRO TORQUE ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
052832,000028:
052833,000029: # THE INPUT IS THE DESIRED STABLE MEMBER COORDINATES REFERRED TO PRESENT STABLE MEMBER COORDINATES. THE THREE
052834,000030: # HALF-UNIT VECTORS ARE STORED AT XDC, YDC, AND ZDC.
052835,000031:
052836,000032: # THE OUTPUTS ARE THE THREE GYRO TORQUING ANGLES TO BE APPLIED TO THE Y, Z, AND X GYROS AND ARE STORED DP AT IGC,
052837,000033: # MGC, AND OGC RESPECTIVELY.
052838,000034:
052839,000035: 23,3245 COUNT* $$/INFLT
052840,000036: 23,3245 71220 CALCGTA ITA DLOAD # PUSHDOWN 00-03,16D-27D,34D-37D
052841,000037: 23,3246 00051 S2 # XDC = (XD1 XD2 XD3)
052842,000038: 23,3247 02665 XDC # YDC = (YD1 YD2 YD3)
052843,000039: 23,3250 65325 PDDL PDDL # ZDC = (ZD1 ZD2 ZD3)
052844,000040: 23,3251 06520 HI6ZEROS
052845,000041: 23,3252 02671 XDC +4
052846,000042: 23,3253 55476 DCOMP VDEF
052847,000043: 23,3254 77656 UNIT
052848,000044: 23,3255 14027 STODL ZPRIME # ZP = UNIT(-XD3 0 XD1) = (ZP1 ZP2 ZP3)
052849,000045: 23,3256 00027 ZPRIME
052850,000046:
052851,000047: 23,3257 77742 SR1
052852,000048: 23,3260 14023 STODL SINTH # SIN(IGC) = ZP1
052853,000049: 23,3261 00033 ZPRIME +4
052854,000050: 23,3262 77742 SR1
052855,000051: 23,3263 34021 STCALL COSTH # COS(IGC) = ZP3
052856,000052: 23,3264 47316 ARCTRIG
052857,000053:
052858,000054: 23,3265 16742 STODL IGC # Y GYRO TORQUING ANGLE FRACTION OF REV.
052859,000055: 23,3266 02667 XDC +2
052860,000056: 23,3267 77742 SR1
052861,000057: 23,3270 14023 STODL SINTH # SIN(MGC) = XD2
052862,000058: 23,3271 00027 ZPRIME
052863,000059:
052864,000060: 23,3272 65205 DMP PDDL
052865,000061: 23,3273 02671 XDC +4 # PD00 = (ZP1)(XD3)
052866,000062: 23,3274 00033 ZPRIME +4
052867,000063:
052868,000064: 23,3275 45205 DMP DSU
052869,000065: 23,3276 02665 XDC # MPAC = (ZP3)(XD1)
052870,000066: 23,3277 77626 STADR
052871,000067: 23,3300 43756 STCALL COSTH # COS(MGC) = MPAC - PD00
052872,000068: 23,3301 47316 ARCTRIG
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Page 1239
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052874,000070: 23,3302 26744 STOVL MGC # Z GYRO TORQUING ANGLE FRACTION OF REV.
052875,000071: 23,3303 00027 ZPRIME
052876,000072: 23,3304 77641 DOT
052877,000073: 23,3305 02701 ZDC
052878,000074: 23,3306 24021 STOVL COSTH # COS(OGC) = ZP . ZDC
052879,000075: 23,3307 00027 ZPRIME
052880,000076: 23,3310 77641 DOT
052881,000077: 23,3311 02673 YDC
052882,000078: 23,3312 34023 STCALL SINTH # SIN(OGC) = ZP . YDC
052883,000079: 23,3313 47316 ARCTRIG
052884,000080:
052885,000081: 23,3314 36740 STCALL OGC # X GYRO TORQUING ANGLE FRACTION OF REV.
052886,000082: 23,3315 00051 S2
052887,000083:
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Page 1240
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052889,000085: # ARCTRIG COMPUTES AN ANGLE GIVEN THE SINE AND COSINE OF THIS ANGLE.
052890,000086:
052891,000087: # THE INPUTS ARE SIN/4 AND COS/4 STORED DP AT SINTH AND COSTH.
052892,000088:
052893,000089: # THE OUTPUT IS THE CALCULATED ANGLE BETWEEN +.5 AND -.5 REVOLUTIONS AND STORED AT THETA. THE OUTPUT IS ALSO
052894,000090: # AVAILABLE AT MPAC.
052895,000091:
052896,000092: 23,3316 51545 ARCTRIG DLOAD ABS # PUSHDOWN 16D-21D
052897,000093: 23,3317 00023 SINTH
052898,000094: 23,3320 50025 DSU BMN
052899,000095: 23,3321 07532 QTSN45 # ABS(SIN/4) - SIN(45)/4
052900,000096: 23,3322 47331 TRIG1 # IF (-45,45) OR (135,-135)
052901,000097:
052902,000098: 23,3323 72545 DLOAD SL1 # (45,135) OR (-135,-45)
052903,000099: 23,3324 00021 COSTH
052904,000100: 23,3325 75326 ACOS SIGN
052905,000101: 23,3326 00023 SINTH
052906,000102: 23,3327 00025 STORE THETA # X = ARCCOS(COS) WITH SIGN(SIN)
052907,000103: 23,3330 77616 RVQ
052908,000104:
052909,000105: 23,3331 72545 TRIG1 DLOAD SL1 # (-45,45) OR (135,-135)
052910,000106: 23,3332 00023 SINTH
052911,000107: 23,3333 77736 ASIN
052912,000108: 23,3334 14025 STODL THETA # X = ARCSIN(SIN) WITH SIGN(SIN)
052913,000109: 23,3335 00021 COSTH
052914,000110: 23,3336 77640 BMN
052915,000111: 23,3337 47342 TRIG2 # IF (135,-135)
052916,000112:
052917,000113: 23,3340 43545 DLOAD RVQ
052918,000114: 23,3341 00025 THETA # X = ARCSIN(SIN) (-45,45)
052919,000115:
052920,000116: 23,3342 75345 TRIG2 DLOAD SIGN # (135,-135)
052921,000117: 23,3343 06516 HIDPHALF
052922,000118: 23,3344 00023 SINTH
052923,000119: 23,3345 77625 DSU
052924,000120: 23,3346 00025 THETA
052925,000121: 23,3347 00025 STORE THETA # X = .5 WITH SIGN(SIN) - ARCSIN(SIN)
052926,000122: 23,3350 77616 RVQ # (+) - (+) OR (-) - (-)
052927,000123:
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Page 1241
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052929,000125: # SMNB, NBSM, AND AXISROT, WHICH USED TO APPEAR HERE, HAVE BEEN
052930,000126: # COMBINED IN A ROUTINE CALLED AX*SR*T, WHICH APPEARS AMONG THE POWERED
052931,000127: # FLIGHT SUBROUTINES.
052932,000128:
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Page 1242
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052934,000130: # CALCGA COMPUTES THE CDU DRIVING ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
052935,000131:
052936,000132: # THE INPUTS ARE 1) THE NAVIGATION BASE COORDINATES REFERRED TO ANY COORDINATE SYSTEM. THE THREE HALF-UNIT
052937,000133: # VECTORS ARE STORED AT XNB,YNB, AND ZNB. 2) THE DESIRED STABLE MEMBER COORDINATES REFERRED TO THE SAME
052938,000134: # COORDINATE SYSTEM ARE STORED AT XSM, YSM, AND ZSM.
052939,000135:
052940,000136: # THE OUTPUTS ARE THE THREE CDU DRIVING ANGLES AND ARE STORED SP AT THETAD, THETAD +1, AND THETAD +2.
052941,000137:
052942,000138: 23,3351 77601 CALCGA SETPD # PUSHDOWN 00-05, 16D-21D, 34D-37D
052943,000139: 23,3352 00001 0
052944,000140: 23,3353 47375 VLOAD VXV
052945,000141: 23,3354 02665 XNB # XNB = OGA (OUTER GIMBAL AXIS)
052946,000142: 23,3355 02651 YSM # YSM = IGA (INNER GIMBAL AXIS)
052947,000143: 23,3356 41456 UNIT PUSH # PD0 = UNIT(OGA X IGA) = MGA
052948,000144:
052949,000145: 23,3357 44041 DOT ITA
052950,000146: 23,3360 02701 ZNB
052951,000147: 23,3361 00051 S2
052952,000148: 23,3362 24021 STOVL COSTH # COS(OG) = MGA . ZNB
052953,000149: 23,3363 00001 0
052954,000150: 23,3364 77641 DOT
052955,000151: 23,3365 02673 YNB
052956,000152: 23,3366 34023 STCALL SINTH # SIN(OG) = MGA . YNB
052957,000153: 23,3367 47316 ARCTRIG
052958,000154: 23,3370 26740 STOVL OGC
052959,000155: 23,3371 00001 0
052960,000156:
052961,000157: 23,3372 50235 VXV DOT # PROVISION FOR MG ANGLE OF 90 DEGREES
052962,000158: 23,3373 02665 XNB
052963,000159: 23,3374 02651 YSM
052964,000160: 23,3375 77752 SL1
052965,000161: 23,3376 24021 STOVL COSTH # COS(MG) = IGA . (MGA X OGA)
052966,000162: 23,3377 02651 YSM
052967,000163: 23,3400 77641 DOT
052968,000164: 23,3401 02665 XNB
052969,000165: 23,3402 34023 STCALL SINTH # SIN(MG) = IGA . OGA
052970,000166: 23,3403 47316 ARCTRIG
052971,000167: 23,3404 02744 STORE MGC
052972,000168:
052973,000169: 23,3405 45246 ABS DSU
052974,000170: 23,3406 07534 .166...
052975,000171: 23,3407 77644 BPL
052976,000172: 23,3410 47427 GIMLOCK1 # IF ANGLE GREATER THAN 60 DEGREES
052977,000173:
052978,000174: 23,3411 50375 CALCGA1 VLOAD DOT
052979,000175: 23,3412 02657 ZSM
052980,000176: 23,3413 00001 0
052981,000177: 23,3414 24021 STOVL COSTH # COS(IG) = ZSM . MGA
052982,000178: 23,3415 02643 XSM
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Page 1243
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052984,000180: 23,3416 45441 DOT STADR
052985,000181: 23,3417 43754 STCALL SINTH # SIN(IG) = XSM . MGA
052986,000182: 23,3420 47316 ARCTRIG
052987,000183:
052988,000184: 23,3421 26742 STOVL IGC
052989,000185: 23,3422 02740 OGC
052990,000186: 23,3423 77634 RTB
052991,000187: 23,3424 21621 V1STO2S
052992,000188: 23,3425 34322 STCALL THETAD
052993,000189: 23,3426 00051 S2
052994,000190:
052995,000191: 23,3427 77776 GIMLOCK1 EXIT
052996,000192: 23,3430 05600 TC ALARM
052997,000193: 23,3431 00401 OCT 00401
052998,000194: 23,3432 05515 TC UPFLAG # GIMBAL LOCK HAS OCCURED
052999,000195: 23,3433 00056 ADRES GLOKFAIL
053000,000196:
053001,000197: 23,3434 06042 TC INTPRET
053002,000198: 23,3435 77650 GOTO
053003,000199: 23,3436 47411 CALCGA1
053004,000200:
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Page 1244
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053006,000202: # AXISGEN COMPUTES THE COORDINATES OF ONE COORDINATE SYSTEM REFERRED TO ANOTHER COORDINATE SYSTEM.
053007,000203:
053008,000204: # THE INPUTS ARE 1) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM A STORED AT STARAD. 2) THE STAR2 VECTOR
053009,000205: # REFERRED TO COORDINATE SYSTEM A STORED AT STARAD +6. 3) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM B STORED
053010,000206: # AT LOCATION 6 OF THE VAC AREA. 4) THE STAR2 VECTOR REFERRED TO COORDINATE SYSTEM B STORED AT LOCATION 12D OF
053011,000207: # THE VAC AREA.
053012,000208:
053013,000209: # THE OUTPUT DEFINES COORDINATE SYSTEM A REFERRED TO COORDINATE SYSTEM B. THE THREE HALF-UNIT VECTORS ARE STORED
053014,000210: # AT LOCATIONS XDC, XDC +6, XDC +12D, AND STARAD, STARAD +6, STARAD +12D.
053015,000211:
053016,000212: 23,3437 66370 AXISGEN AXT,1 SSP # PUSHDOWN 00-30D,34D-37D
053017,000213: 23,3440 02714 STARAD +6
053018,000214: 23,3441 00051 S1
053019,000215: 23,3442 02700 STARAD -6
053020,000216:
053021,000217: 23,3443 77601 SETPD
053022,000218: 23,3444 00001 0
053023,000219: 23,3445 46773 AXISGEN1 VLOAD* VXV* # 06D UA = S1
053024,000220: 23,3446 02723 STARAD +12D,1 # STARAD +00D UB = S1
053025,000221: 23,3447 02731 STARAD +18D,1
053026,000222: 23,3450 77656 UNIT # 12D VA = UNIT(S1 X S2)
053027,000223: 23,3451 06731 STORE STARAD +18D,1 # STARAD +06D VB = UNIT(S1 X S2)
053028,000224: 23,3452 77773 VLOAD*
053029,000225: 23,3453 02723 STARAD +12D,1
053030,000226:
053031,000227: 23,3454 76433 VXV* VSL1
053032,000228: 23,3455 02731 STARAD +18D,1 # 18D WA = UA X VA
053033,000229: 23,3456 06737 STORE STARAD +24D,1 # STARAD +12D WB = UB X VB
053034,000230:
053035,000231: 23,3457 77700 TIX,1
053036,000232: 23,3460 47445 AXISGEN1
053037,000233:
053038,000234: 23,3461 66160 AXC,1 SXA,1
053039,000235: 23,3462 00006 6
053040,000236: 23,3463 00036 30D
053041,000237:
053042,000238: 23,3464 66370 AXT,1 SSP
053043,000239: 23,3465 00022 18D
053044,000240: 23,3466 00051 S1
053045,000241: 23,3467 00006 6
053046,000242:
053047,000243: 23,3470 66374 AXT,2 SSP
053048,000244: 23,3471 00006 6
053049,000245: 23,3472 00052 S2
053050,000246: 23,3473 00002 2
053051,000247:
053052,000248: 23,3474 76720 AXISGEN2 XCHX,1 VLOAD*
053053,000249: 23,3475 00036 30D # X1=-6 X2=+6 X1=-6 X2=+4 X1=-6 X2=+2
053054,000250: 23,3476 00001 0,1
053055,000251:
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Page 1245
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053057,000253: 23,3477 62757 VXSC* PDVL* # J=(UA)(UB1) J=(UA)(UB2) J=(UA)(UB3)
053058,000254: 23,3500 75062 STARAD +6,2
053059,000255: 23,3501 00007 6,1
053060,000256: 23,3502 77757 VXSC*
053061,000257: 23,3503 75054 STARAD +12D,2
053062,000258: 23,3504 30031 STOVL* 24D # K=(VA)(VB1) J=(VA)(VB2) J=(VA)(VB3)
053063,000259: 23,3505 00015 12D,1
053064,000260:
053065,000261: 23,3506 53357 VXSC* VAD
053066,000262: 23,3507 75046 STARAD +18D,2 # L=(WA)(WB1) J=(WA)(WB2) J=(WA)(WB3)
053067,000263: 23,3510 76455 VAD VSL1
053068,000264: 23,3511 00031 24D
053069,000265: 23,3512 53520 XCHX,1 UNIT
053070,000266: 23,3513 00036 30D
053071,000267: 23,3514 06707 STORE XDC +18D,1 # XDC = L+J+K YDC = L+J+K ZDC = L+J+K
053072,000268:
053073,000269: 23,3515 77700 TIX,1
053074,000270: 23,3516 47517 AXISGEN3
053075,000271:
053076,000272: 23,3517 77704 AXISGEN3 TIX,2
053077,000273: 23,3520 47474 AXISGEN2
053078,000274:
053079,000275: 23,3521 77775 VLOAD
053080,000276: 23,3522 02665 XDC
053081,000277: 23,3523 26707 STOVL STARAD
053082,000278: 23,3524 02673 YDC
053083,000279: 23,3525 26715 STOVL STARAD +6
053084,000280: 23,3526 02701 ZDC
053085,000281: 23,3527 02723 STORE STARAD +12D
053086,000282:
053087,000283: 23,3530 77616 RVQ
053088,000284:
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Page 1246
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053090,000286: 23,3531 05520 26075 QTSN45 2DEC .1768
053091,000287: 23,3533 05252 25253 .166... 2DEC .1666666667
053092,000288:
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Page 1247
There is no source code on this page of the original assembly listing.
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End of include-file INFLIGHT_ALIGNMENT_ROUTINES.agc. Parent file is MAIN.agc