ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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This is the source-code for the Apollo 9 Command Module's Guidance Computer.
These files were derived originally from the scan from MIT's Dibner Institute's
now-discontinued website titled "History of Recent Science and Technology", which
in turn was originally created by Gary Neff, though his high-quality scans were
unfortunately reduced in legibility when presented online.
The markings on the front of the
printout imply that it was the original AGC developer Norm Brodeur's copy.
A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original
AGC developer Fred Martin. The source code was transcribed from
those images by Ron Burkey. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
021900,000002: ## Copyright: Public domain.
021901,000003: ## Filename: P76.agc
021902,000004: ## Purpose: Part of the source code for Colossus, build 249.
021903,000005: ## It is part of the source code for the Command Module's (CM)
021904,000006: ## Apollo Guidance Computer (AGC), for Apollo 9.
021905,000007: ## Assembler: yaYUL
021906,000008: ## Reference: pp. 502-504.
021907,000009: ## Contact: Ron Burkey <info@sandroid.org>.
021908,000010: ## Website: www.ibiblio.org/apollo.
021909,000011: ## Mod history: 08/12/04 RSB. Adapted from corresponding Luminary131
021910,000012: ## file.
021911,000013: ## 2017-01-06 RSB Page numbers now agree with those on the
021912,000014: ## original harcopy, as opposed to the PDF page
021913,000015: ## numbers in 1701.pdf.
021914,000016: ## 2017-01-18 RSB Cross-diff'd comment text (not whitespace)
021915,000017: ## vs the already-proofed corresponding Colossus
021916,000018: ## 237 and Comanche 55 source-code files
021917,000019: ## and corrected errors found.
021918,000020: ##
021919,000021: ## The contents of the "Colossus249" files, in general, are transcribed
021920,000022: ## from a scanned copy of the program listing. Notations on this
021921,000023: ## document read, in part:
021922,000024: ##
021923,000025: ## Assemble revision 249 of AGC program Colossus by NASA
021924,000026: ## 2021111-041. October 28, 1968.
021925,000027: ##
021926,000028: ## This AGC program shall also be referred to as
021927,000029: ## Colossus 1A
021928,000030: ##
021929,000031: ## Prepared by
021930,000032: ## Massachusetts Institute of Technology
021931,000033: ## 75 Cambridge Parkway
021932,000034: ## Cambridge, Massachusetts
021933,000035: ## under NASA contract NAS 9-4065.
021934,000036: ##
021935,000037: ## Refer directly to the online document mentioned above for further information.
021936,000038: ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
021937,000039: ##
021938,000040: ## In some cases, where the source code for Luminary 131 overlaps that of
021939,000041: ## Colossus 249, this code is instead copied from the corresponding Luminary 131
021940,000042: ## source file, and then is proofed to incorporate any changes.
021941,000043:
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Page 502 |
021943,000045: # 1) PROGRAM NAME - TARGET DELTA V PROGRAM (P76).
021944,000046: # 2) FUNCTIONAL DESCRIPTION - UPON ENTRY BY ASTRONAUT ACTION, P76 FLASHES DSKY REQUESTS TO THE ASTRONAUT
021945,000047: # TO PROVIDE VIA DSKY (1) THE DELTA V TO BE APPLIED TO THE OTHER VEHICLE STATE VECTOR AND (2) THE
021946,000048: # TIME (TIG) AT WHICH THE OTHER VEHICLE VELOCITY WAS CHANGED BY EXECUTION OF A THRUSTING MANEUVER. THE
021947,000049: # OTHER VEHICLE STATE VECTOR IS INTEGRATED TO TIG AND UPDATED BY THE ADDITION OF DELTA V (DELTA V HAVING
021948,000050: # BEEN TRANSFORMED FROM LV TO REF COSYS). USING INTEGRVS, THE PROGRAM THEN INTEGRATES THE OTHER
021949,000051: # VEHICLE STATE VECTOR TO THE STATE VECTOR OF THIS VEHICLE, THUS INSURING THAT THE W-MATRIX AND BOTH VEHICLE
021950,000052: # STATES CORRESPOND TO THE SAME TIME.
021951,000053: # 3) ERASABLE INITIALIZATION REQUIRED - NONE.
021952,000054: # 4) CALLING SEQUENCES AND EXIT MODES - CALLED BY ASTRONAUT REQUEST THRU DSKY V 37 E 76E.
021953,000055: # EXITS BY TCF ENDOFJOB.
021954,000056: # 5) OUTPUT - OTHER VEHICLE STATE VECTOR INTEGRATED TO TIG AND INCREMENTED BY DELTA V IN REF COSYS.
021955,000057: # THE PUSHLIST CONTAINS THE MATRIX BY WHICH THE INPUT DELTA V MUST BE POST-MULTIPLIED TO CONVERT FROM LV
021956,000058: # TO REF COSYS.
021957,000059: # 6) DEBRIS - OTHER VEHICLE STATE VECTOR.
021958,000060: # 7) SUBROUTINES CALLED - BANKCALL, GOXDSPF, CSMPREC (OR LEMPREC), ATOPCSM (OR ATOPLEM), INTSTALL, INTWAKE, PHASCHNG
021959,000061: # INTPRET, INTEGRVS, AND MINIRECT.
021960,000062: # 8) FLAG USE - MOONFLAG, CMOONFLAG, INTYPFLG, RASFLAG, AND MARKCTR.
021961,000063:
021962,000064: 30,2000 BANK 30
021963,000065: 13,2000 SETLOC P76LOC
021964,000066: 13,2000 BANK
021965,000067:
021966,000068: 13,2036 COUNT* $$/P76
021967,000069:
021968,000070: 13,2036 E7,1412 EBANK= TIG
021969,000071:
021970,000072: 13,2036 05435 P76 TC UPFLAG
021971,000073: 13,2037 00031 ADRES TRACKFLG
021972,000074:
021973,000075: 13,2040 32163 CAF V06N84 # FLASH LAST DELTA V,
021974,000076: 13,2041 04555 TC BANKCALL # AND WAIT FOR KEYBOARD ACTION.
021975,000077: 13,2042 20624 CADR GOFLASH
021976,000078: 13,2043 12155 TCF ENDP76
021977,000079: 13,2044 02046 TC +2 # PROCEED
021978,000080: 13,2045 02040 TC -5 # STORE DATA AND REPEAT FLASHING
021979,000081: 13,2046 32164 CAF V06N84 +1 # FLASH VERB 06 NOUN 33, DISPLAY LAST TIG,
021980,000082: 13,2047 04555 TC BANKCALL # AND WAIT FOR KEYBOARD ACTION.
021981,000083: 13,2050 20624 CADR GOFLASH
021982,000084: 13,2051 12155 TCF ENDP76
021983,000085: 13,2052 02054 TC +2
021984,000086: 13,2053 02046 TC -5
021985,000087: 13,2054 06006 TC INTPRET # RETURN TO INTERPRETIVE CODE
021986,000088: 13,2055 77745 DLOAD # SET D(MPAC)=TIG IN CSEC B28
021987,000089: 13,2056 03413 TIG
021988,000090: 13,2057 34041 STCALL TDEC1 # SET TDEC1=TIG FOR ORBITAL INTEGRATION
021989,000091: 13,2060 27036 OTHPREC
021990,000092: 13,2061 53575 COMPMAT VLOAD UNIT
021991,000093: 13,2062 00001 RATT
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Page 503 |
021993,000095: 13,2063 77676 VCOMP # U(-R)
021994,000096: 13,2064 00031 STORE 24D # U(-R) TO 24D
021995,000097: 13,2065 53435 VXV UNIT # U(-R) X V = U(V X R)
021996,000098: 13,2066 00007 VATT
021997,000099: 13,2067 00023 STORE 18D
021998,000100: 13,2070 53435 VXV UNIT # U(V X R) X U(-R) = U((R X V) X R)
021999,000101: 13,2071 00031 24D
022000,000102: 13,2072 24015 STOVL 12D
022001,000103: 13,2073 03540 DELVOV
022002,000104: 13,2074 76505 VXM VSL1 # V(MPAC)=DELTA V IN REFCOSYS
022003,000105: 13,2075 00015 12D
022004,000106: 13,2076 77655 VAD
022005,000107: 13,2077 00007 VATT
022006,000108: 13,2100 00007 STORE 6 # V(PD6)=VATT + DELTA V
022007,000109: 13,2101 77624 CALL # PREVENT WOULD-BE USER OF ORBITAL
022008,000110: 13,2102 27371 INTSTALL # INTEG FROM INTERFERING WITH UPDATING
022009,000111: 13,2103 77624 CALL
022010,000112: 13,2104 26165 P76SUB1
022011,000113: 13,2105 53775 VLOAD VSR*
022012,000114: 13,2106 00007 6
022013,000115: 13,2107 57176 0,2
022014,000116: 13,2110 25543 STOVL VCV
022015,000117: 13,2111 00001 RATT
022016,000118: 13,2112 77657 VSR*
022017,000119: 13,2113 57176 0,2
022018,000120: 13,2114 15535 STODL RCV
022019,000121: 13,2115 03413 TIG
022020,000122: 13,2116 01517 STORE TET
022021,000123: 13,2117 71214 CLEAR DLOAD
022022,000124: 13,2120 01673 INTYPFLG
022023,000125: 13,2121 01571 TETTHIS
022024,000126: 13,2122 34041 INTOTHIS STCALL TDEC1
022025,000127: 13,2123 27066 INTEGRVS
022026,000128: 13,2124 77624 CALL
022027,000129: 13,2125 27371 INTSTALL
022028,000130: 13,2126 77775 VLOAD
022029,000131: 13,2127 00017 RATT1
022030,000132: 13,2130 01503 STORE RRECT
022031,000133: 13,2131 15535 STODL RCV
022032,000134: 13,2132 00015 TAT
022033,000135: 13,2133 25517 STOVL TET
022034,000136: 13,2134 00025 VATT1
022035,000137: 13,2135 77624 CALL
022036,000138: 13,2136 23360 MINIRECT
022037,000139: 13,2137 77776 EXIT
022038,000140: 13,2140 05301 TC PHASCHNG
022039,000141: 13,2141 04024 OCT 04024
022040,000142:
022041,000143: 13,2142 05435 TC UPFLAG
022042,000144: 13,2143 00236 ADRES REINTFLG
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Page 504 |
022044,000146:
022045,000147: 13,2144 06006 TC INTPRET
022046,000148: 13,2145 77624 CALL
022047,000149: 13,2146 26711 ATOPOTH
022048,000150: 13,2147 77531 SSP EXIT
022049,000151: 13,2150 00053 QPRET
022050,000152: 13,2151 26154 OUT
022051,000153: 13,2152 04555 TC BANKCALL # PERMIT USE OF ORBITAL INTEGRATION
022052,000154: 13,2153 27426 CADR INTWAKE1
022053,000155: 13,2154 77776 OUT EXIT
022054,000156: 13,2155 34714 ENDP76 CAF ZERO
022055,000157: 13,2156 55126 TS MARKCTR # CLEAR RR TRACKING MARK COUNTER
022056,000158: 13,2157 55125 TS VHFCNT
022057,000159:
022058,000160: 13,2160 37716 CAF NEGONE
022059,000161: 13,2161 55734 TS MRKBUF2 # INVALIDATE MARK BUFFER
022060,000162:
022061,000163: 13,2162 14106 TCF GOTOPOOH
022062,000164:
022063,000165: 13,2163 01524 V06N84 NV 0684
022064,000166: 13,2164 01441 NV 0633
022065,000167: 13,2165 43174 P76SUB1 AXT,2 SET
022066,000168: 13,2166 00002 2
022067,000169: 13,2167 00063 MOONFLAG # SET MEANS MOON IS SPHERE OF INFLUENCE.
022068,000170: 13,2170 77014 BON AXT,2
022069,000171: 13,2171 04303 CMOONFLG # SET MEANS PERM CM STATE IN LUNAR SPHERE.
022070,000172: 13,2172 00052 QPRET
022071,000173: 13,2173 00000 0
022072,000174: 13,2174 43414 CLEAR RVQ
022073,000175: 13,2175 00263 MOONFLAG
022074,000176:
022075,000177:
022076,000178:
022077,000179:
022078,000180:
End of include-file P76.agc. Parent file is MAIN.agc