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A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original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. |
064644,000002: ## Copyright: Public domain.
064645,000003: ## Filename: RTB_OP_CODES.agc
064646,000004: ## Purpose: Part of the source code for Colossus, build 249.
064647,000005: ## It is part of the source code for the Command Module's (CM)
064648,000006: ## Apollo Guidance Computer (AGC), for Apollo 9.
064649,000007: ## Assembler: yaYUL
064650,000008: ## Reference: Starts on p. 1476
064651,000009: ## Contact: Ron Burkey <info@sandroid.org>.
064652,000010: ## Website: www.ibiblio.org/apollo.
064653,000011: ## Mod history: 08/30/04 RSB. Adapted from corresponding Luminary131 file.
064654,000012: ## 2017-01-06 RSB Page numbers now agree with those on the
064655,000013: ## original harcopy, as opposed to the PDF page
064656,000014: ## numbers in 1701.pdf.
064657,000015: ## 2017-01-18 RSB Cross-diff'd comment text (not whitespace)
064658,000016: ## vs the already-proofed corresponding Colossus
064659,000017: ## 237 and Comanche 55 source-code files
064660,000018: ## and corrected errors found.
064661,000019: ##
064662,000020: ## The contents of the "Colossus249" files, in general, are transcribed
064663,000021: ## from a scanned copy of the program listing. Notations on this
064664,000022: ## document read, in part:
064665,000023: ##
064666,000024: ## Assemble revision 249 of AGC program Colossus by NASA
064667,000025: ## 2021111-041. October 28, 1968.
064668,000026: ##
064669,000027: ## This AGC program shall also be referred to as
064670,000028: ## Colossus 1A
064671,000029: ##
064672,000030: ## Prepared by
064673,000031: ## Massachusetts Institute of Technology
064674,000032: ## 75 Cambridge Parkway
064675,000033: ## Cambridge, Massachusetts
064676,000034: ## under NASA contract NAS 9-4065.
064677,000035: ##
064678,000036: ## Refer directly to the online document mentioned above for further information.
064679,000037: ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
064680,000038: ##
064681,000039: ## In some cases, where the source code for Luminary 131 overlaps that of
064682,000040: ## Colossus 249, this code is instead copied from the corresponding Luminary 131
064683,000041: ## source file, and then is proofed to incorporate any changes.
064684,000042:
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Page 1476 |
064686,000044: 22,3505 BANK 22
064687,000045: 22,2000 SETLOC RTBCODES
064688,000046: 22,2000 BANK
064689,000047:
064690,000048: 22,3505 E5,1713 EBANK= XNB
064691,000049: 22,3505 COUNT* $$/RTB
064692,000050:
064693,000051: # LOAD TIME2, TIME1 INTO MPAC:
064694,000052:
064695,000053: 22,3505 00006 LOADTIME EXTEND
064696,000054: 22,3506 30025 DCA TIME2
064697,000055: 22,3507 16024 TCF SLOAD2
064698,000056:
064699,000057: # CONVERT THE SINGLE PRECISION 2'S COMPLEMENT NUMBER ARRIVING IN MPAC (SCALED IN HALF-REVOLUTIONS) TO A
064700,000058: # DP 1'S COMPLEMENT NUMBER SCALED IN REVOLUTIONS.
064701,000059:
064702,000060: 22,3510 10154 CDULOGIC CCS MPAC
064703,000061: 22,3511 34714 CAF ZERO
064704,000062: 22,3512 13515 TCF +3
064705,000063: 22,3513 13514 NOOP
064706,000064: 22,3514 44675 CS HALF
064707,000065:
064708,000066: 22,3515 54155 TS MPAC +1
064709,000067: 22,3516 34714 CAF ZERO
064710,000068: 22,3517 56154 XCH MPAC
064711,000069: 22,3520 00006 EXTEND
064712,000070: 22,3521 74675 MP HALF
064713,000071: 22,3522 20155 DAS MPAC
064714,000072: 22,3523 16030 TCF DANZIG # MODE IS ALREADY AT DOUBLE-PRECISION
064715,000073:
064716,000074: # READ THE PIPS INTO MPAC WITHOUT CHANGING THEM:
064717,000075:
064718,000076: 22,3524 00004 READPIPS INHINT
064719,000077: 22,3525 30037 CA PIPAX
064720,000078: 22,3526 54154 TS MPAC
064721,000079: 22,3527 30040 CA PIPAY
064722,000080: 22,3530 54157 TS MPAC +3
064723,000081: 22,3531 30041 CA PIPAZ
064724,000082: 22,3532 00003 RELINT
064725,000083: 22,3533 54161 TS MPAC +5
064726,000084:
064727,000085: 22,3534 34714 CAF ZERO
064728,000086: 22,3535 54155 TS MPAC +1
064729,000087: 22,3536 54160 TS MPAC +4
064730,000088: 22,3537 54162 TS MPAC +6
064731,000089:
064732,000090: 22,3540 16470 VECMODE TCF VMODE
064733,000091:
064734,000092: # FORCE TP SIGN AGREEMENT IN MPAC:
064735,000093:
064736,000094: 22,3541 07226 SGNAGREE TC TPAGREE
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Page 1477 |
064738,000096: 22,3542 16030 TCF DANZIG
064739,000097:
064740,000098: # CONVERT THE DP 1'S COMPLEMENT ANGLE SCALED IN REVOLUTIONS TO A SINGLE PRECISION 2'S COMPLEMENT ANGLE
064741,000099: # SCALED IN HALF-REVOLUTIONS.
064742,000100:
064743,000101: 22,3543 03573 1STO2S TC 1TO2SUB
064744,000102: 22,3544 34714 CAF ZERO
064745,000103: 22,3545 54155 TS MPAC +1
064746,000104: 22,3546 16027 TCF NEWMODE
064747,000105:
064748,000106: # DO 1STO2S ON A VECTOR OF ANGLES:
064749,000107:
064750,000108: 22,3547 03573 V1STO2S TC 1TO2SUB # ANSWER ARRIVES IN A AND MPAC.
064751,000109:
064752,000110: 22,3550 52162 DXCH MPAC +5
064753,000111: 22,3551 52155 DXCH MPAC
064754,000112: 22,3552 03573 TC 1TO2SUB
064755,000113: 22,3553 54156 TS MPAC +2
064756,000114:
064757,000115: 22,3554 52160 DXCH MPAC +3
064758,000116: 22,3555 52155 DXCH MPAC
064759,000117: 22,3556 03573 TC 1TO2SUB
064760,000118: 22,3557 54155 TS MPAC +1
064761,000119:
064762,000120: 22,3560 30161 CA MPAC +5
064763,000121: 22,3561 54154 TS MPAC
064764,000122:
064765,000123: 22,3562 34712 TPMODE CAF ONE # MODE IS TP.
064766,000124: 22,3563 16027 TCF NEWMODE
064767,000125:
064768,000126: # V1STO2S FOR 2 COMPONENT VECTOR. USED BY RR.
064769,000127:
064770,000128: 22,3564 03573 2V1STO2S TC 1TO2SUB
064771,000129: 22,3565 52160 DXCH MPAC +3
064772,000130: 22,3566 52155 DXCH MPAC
064773,000131: 22,3567 03573 TC 1TO2SUB
064774,000132: 22,3570 54001 TS L
064775,000133: 22,3571 30157 CA MPAC +3
064776,000134: 22,3572 16024 TCF SLOAD2
064777,000135:
064778,000136: # SUBROUTINE TO DO DOUBLING AND 1'S TO 2'S CONVERSION:
064779,000137:
064780,000138: 22,3573 52155 1TO2SUB DXCH MPAC # FINAL MPAC +1 UNSPECIFIED.
064781,000139: 22,3574 20001 DDOUBL
064782,000140: 22,3575 10000 CCS A
064783,000141: 22,3576 64712 AD ONE
064784,000142: 22,3577 13601 TCF +2
064785,000143: 22,3600 40000 COM # THIS WAS REVERSE OF MSU.
064786,000144:
064787,000145: 22,3601 54154 TS MPAC # AND SKIP ON OVERFLOW.
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Page 1478 |
064789,000147: 22,3602 00002 TC Q
064790,000148:
064791,000149: 22,3603 50000 INDEX A # OVERFLOW UNCORRECT AND IN MSU.
064792,000150: 22,3604 34673 CAF LIMITS
064793,000151: 22,3605 26154 ADS MPAC
064794,000152: 22,3606 00002 TC Q
064795,000153:
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Page 1479 |
064797,000155: # SUBROUTINE TO INCREMENT CDUS
064798,000156:
064799,000157: 22,3607 33622 INCRCDUS CAF LOCTHETA
064800,000158: 22,3610 54130 TS BUF # PLACE ADRES(THETA) IN BUF.
064801,000159: 22,3611 30154 CAE MPAC # INCREMENT IN 1S COMPL.
064802,000160: 22,3612 03623 TC CDUINC
064803,000161:
064804,000162: 22,3613 24130 INCR BUF
064805,000163: 22,3614 30157 CAE MPAC +3
064806,000164: 22,3615 03623 TC CDUINC
064807,000165:
064808,000166: 22,3616 24130 INCR BUF
064809,000167: 22,3617 30161 CAE MPAC +5
064810,000168: 22,3620 03623 TC CDUINC
064811,000169:
064812,000170: 22,3621 13540 TCF VECMODE
064813,000171:
064814,000172: 22,3622 01155 LOCTHETA ADRES THETAD
064815,000173:
064816,000174: # THE FOLLOWING ROUTINE INCREMENTS IN 2S COMPLEMENT THE REGISTER WHOSE ADDRESS IS IN BUF BY THE 1S COMPL.
064817,000175: # QUANTITY FOUND IN TEM2. THIS MAY BE USED TO INCREMENT DESIRED IMU AND OPTICS CDU ANGLES OR ANY OTHER 2S COMPL.
064818,000176: # (+0 UNEQUAL TO -0) QUANTITY. MAY BE CALLED BY BANKCALL/SWCALL.
064819,000177:
064820,000178: 22,3623 54142 CDUINC TS TEM2 # 1S COMPL. QUANT. ARRIVES IN ACC. STORE IT
064821,000179: 22,3624 50130 INDEX BUF
064822,000180: 22,3625 10000 CCS 0 # CHANGE 2S COMPL. ANGLE(IN BUF) INTO 1S
064823,000181: 22,3626 64712 AD ONE
064824,000182: 22,3627 13633 TCF +4
064825,000183: 22,3630 64712 AD ONE
064826,000184: 22,3631 64712 AD ONE # OVERFLOW HERE IF 2S COMPL. IS 180 DEG.
064827,000185: 22,3632 40000 COM
064828,000186:
064829,000187: 22,3633 60142 AD TEM2 # SULT MOVES FROM 2ND TO 3D QUAD. (OR BACK)
064830,000188: 22,3634 10000 CCS A # BACK TO 2S COMPL.
064831,000189: 22,3635 64712 AD ONE
064832,000190: 22,3636 13640 TCF +2
064833,000191: 22,3637 40000 COM
064834,000192: 22,3640 54142 TS TEM2 # STORE 14BIT QUANTITY WITH PRESENT SIGN
064835,000193: 22,3641 13645 TCF +4
064836,000194: 22,3642 50000 INDEX A # SIGN.
064837,000195: 22,3643 34673 CAF LIMITS # FIX IT, BY ADDING IN 37777 OR 40000
064838,000196: 22,3644 60142 AD TEM2
064839,000197:
064840,000198: 22,3645 50130 INDEX BUF
064841,000199: 22,3646 54000 TS 0 # STORE NEW ANGLE IN 2S COMPLEMENT.
064842,000200: 22,3647 00002 TC Q
064843,000201:
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Page 1480 |
064845,000203: # RTB TO TORQUE GYROS, EXCEPT FOR THE CALL TO IMUSTALL. ECADR OF COMMANDS ARRIVES IN X1.
064846,000204:
064847,000205: 22,3650 50120 PULSEIMU INDEX FIXLOC # ADDRESS OF GYRO COMMANDS SHOULD BE IN X1
064848,000206: 22,3651 30046 CA X1
064849,000207: 22,3652 04555 TC BANKCALL
064850,000208: 22,3653 17125 CADR IMUPULSE
064851,000209: 22,3654 16030 TCF DANZIG
064852,000210:
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Page 1481 |
064854,000212: # EACH ROUTINE TAKES A 3X3 MATRIX STORED IN DOUBLE PRECISION IN A FIXED AREA OF ERASABLE MEMORY AND REPLACES IT
064855,000213: # WITH THE TRANSPOSE MATRIX. TRANSP1 USES LOCATIONS XNB+0,+1 THROUGH XNB+16D, 17D AND TRANSP2 USES LOCATIONS
064856,000214: # XNB1+0,+1 THROUGH XNB1+16D, 17D. EACH MATRIX IS STORED BY ROWS.
064857,000215:
064858,000216: 22,3655 02713 XNBEB ECADR XNB
064859,000217: 22,3656 02554 XNB1EB ECADR XNB1
064860,000218:
064861,000219: 22,3657 E5,1713 EBANK= XNB
064862,000220:
064863,000221: 22,3657 33655 TRANSP1 CAF XNBEB
064864,000222: 22,3660 54003 TS EBANK
064865,000223: 22,3661 53716 DXCH XNB +2
064866,000224: 22,3662 53722 DXCH XNB +6
064867,000225: 22,3663 53716 DXCH XNB +2
064868,000226:
064869,000227: 22,3664 53720 DXCH XNB +4
064870,000228: 22,3665 53730 DXCH XNB +12D
064871,000229: 22,3666 53720 DXCH XNB +4
064872,000230:
064873,000231: 22,3667 53726 DXCH XNB +10D
064874,000232: 22,3670 53732 DXCH XNB +14D
064875,000233: 22,3671 53726 DXCH XNB +10D
064876,000234: 22,3672 16030 TCF DANZIG
064877,000235: 22,3673 E5,1554 EBANK= XNB1
064878,000236:
064879,000237: 22,3673 33656 TRANSP2 CAF XNB1EB
064880,000238: 22,3674 54003 TS EBANK
064881,000239: 22,3675 53557 DXCH XNB1 +2
064882,000240: 22,3676 53563 DXCH XNB1 +6
064883,000241: 22,3677 53557 DXCH XNB1 +2
064884,000242:
064885,000243: 22,3700 53561 DXCH XNB1 +4
064886,000244: 22,3701 53571 DXCH XNB1 +12D
064887,000245: 22,3702 53561 DXCH XNB1 +4
064888,000246:
064889,000247: 22,3703 53567 DXCH XNB1 +10D
064890,000248: 22,3704 53573 DXCH XNB1 +14D
064891,000249: 22,3705 53567 DXCH XNB1 +10D
064892,000250: 22,3706 16030 TCF DANZIG
064893,000251:
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Page 1482 |
064895,000253: # THE SUBROUTINE SIGNMPAC SETS C(MPAC, MPAC +1) TO SIGN(MPAC).
064896,000254: # FOR THIS, ONLY THE CONTENTS OF MPAC ARE EXAMINED. ALSO +0 YIELDS POSMAX AND -0 YIELDS NEGMAX.
064897,000255:
064898,000256: # ENTRY MAY BE BY EITHER OF THE FOLLOWING:
064899,000257: # 1. LIMIT THE SIZE OF MPAC ON INTERPRETIVE OVERFLOW:
064900,000258: # ENTRY: BOVB
064901,000259: # SIGNMPAC
064902,000260: # 2. GENERATE IN MPAC THE SIGNUM FUNCTION OF MPAC:
064903,000261: # ENTRY: RTB
064904,000262: # SIGNMPAC
064905,000263: # IN EITHER CASE, RETURN IS TO THE NEXT INTERPRETIVE INSTRUCTION IN THE CALLING SEQUENCE.
064906,000264:
064907,000265: 22,3707 00006 SIGNMPAC EXTEND
064908,000266: 22,3710 34672 DCA DPOSMAX
064909,000267: 22,3711 52155 DXCH MPAC
064910,000268: 22,3712 10000 CCS A
064911,000269: 22,3713 34714 DPMODE CAF ZERO # SETS MPAC +2 TO ZERO IN THE PROCESS
064912,000270: 22,3714 16026 TCF SLOAD2 +2
064913,000271: 22,3715 13716 TCF +1
064914,000272: 22,3716 00006 EXTEND
064915,000273: 22,3717 44672 DCS DPOSMAX
064916,000274: 22,3720 16024 TCF SLOAD2
064917,000275:
064918,000276: # RTB OP CODE NORMUNIT IS LIKE INTERPRETIVE INSTRUCTION UNIT, EXCEPT THAT IT CAN BE DEPENDED ON NOT TO BLOW
064919,000277: # UP WHEN THE VECTOR BEING UNITIZED IS VERY SMALL -- IT WILL BLOW UP WHEN ALL COMPONENTS ARE ZERO. IF NORMUNIT
064920,000278: # IS USED AND THE UPPER ORDER HALVES OF ALL COMPONENTS ARE ZERO, THE MAGNITUDE RETURNED IN 36D WILL BE TOO LARGE
064921,000279: # BY A FACTOR OF 2(13) AND THE SQUARED MAGNITUDE RETURNED AT 34D WILL BE TOO BIG BY A FACTOR OF 2(26).
064922,000280:
064923,000281: 22,3721 34712 NORMUNX1 CAF ONE
064924,000282: 22,3722 13724 TCF NORMUNIT +1
064925,000283: 22,3723 34714 NORMUNIT CAF ZERO
064926,000284: 22,3724 60120 AD FIXLOC
064927,000285: 22,3725 54156 TS MPAC +2
064928,000286: 22,3726 04555 TC BANKCALL # GET SIGN AGREEMENT IN ALL COMPONENTS
064929,000287: 22,3727 01010 CADR VECAGREE
064930,000288: 22,3730 10154 CCS MPAC
064931,000289: 22,3731 13765 TCF NOSHIFT
064932,000290: 22,3732 13734 TCF +2
064933,000291: 22,3733 13765 TCF NOSHIFT
064934,000292: 22,3734 10157 CCS MPAC +3
064935,000293: 22,3735 13765 TCF NOSHIFT
064936,000294: 22,3736 13740 TCF +2
064937,000295: 22,3737 13765 TCF NOSHIFT
064938,000296: 22,3740 10161 CCS MPAC +5
064939,000297: 22,3741 13765 TCF NOSHIFT
064940,000298: 22,3742 13744 TCF +2
064941,000299: 22,3743 13765 TCF NOSHIFT
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Page 1483 |
064943,000301: 22,3744 30155 CA MPAC +1 # SHIFT ALL COMPONENTS LEFT 13
064944,000302: 22,3745 00006 EXTEND
064945,000303: 22,3746 74675 MP BIT14
064946,000304: 22,3747 20155 DAS MPAC # DAS GAINS A LITTLE ACCURACY
064947,000305: 22,3750 30160 CA MPAC +4
064948,000306: 22,3751 00006 EXTEND
064949,000307: 22,3752 74675 MP BIT14
064950,000308: 22,3753 20160 DAS MPAC +3
064951,000309: 22,3754 30162 CA MPAC +6
064952,000310: 22,3755 00006 EXTEND
064953,000311: 22,3756 74675 MP BIT14
064954,000312: 22,3757 20162 DAS MPAC +5
064955,000313: 22,3760 34720 CAF THIRTEEN
064956,000314: 22,3761 50156 INDEX MPAC +2
064957,000315: 22,3762 54045 TS 37D
064958,000316: 22,3763 04574 OFFTUNIT TC POSTJUMP
064959,000317: 22,3764 01024 CADR UNIT +1 # SKIP THE "TC VECAGREE" DONE AT UNIT
064960,000318:
064961,000319: 22,3765 34714 NOSHIFT CAF ZERO
064962,000320: 22,3766 13761 TCF OFFTUNIT -2
064963,000321:
064964,000322: # RTB VECSGNAG ... FORCES SIGN AGREEMENT OF VECTOR IN MPAC.
064965,000323:
064966,000324: 22,3767 04555 VECSGNAG TC BANKCALL
064967,000325: 22,3770 01010 CADR VECAGREE
064968,000326: 22,3771 06030 TC DANZIG
064969,000327:
064970,000328:
End of include-file RTB_OP_CODES.agc. Parent file is MAIN.agc