Source Code
|
This is a reconstructed version of Luminary 130, the initial AGC program released
in November 1969 for the Apollo 13 LM. Three more releases
followed before the flown revision was finally manufactured in February 1970.
This reconstruction was created from a previous transcription of the original listing of
Luminary 131, combined with Luminary memo #129 which describes the small difference
between the Luminary 130 and 131. The reconstructed source code was verified by
matching memory-bank checksums to those listed for Luminary 130 in drawing 2021152G.
In this source code, program comments from the original (Luminary 131) code are
prefixed with '#', while those added later by the Virtual AGC project are prefixed
with '##'.
|
052583,000002: ## Copyright: Public domain.
052584,000003: ## Filename: INFLIGHT_ALIGNMENT_ROUTINES.agc
052585,000004: ## Purpose: A section of the reconstructed source code for Luminary 130.
052586,000005: ## This was the original program released for the Apollo 13 LM,
052587,000006: ## although several more revisions would follow. It has been
052588,000007: ## reconstructed from a listing of Luminary 131, from which it
052589,000008: ## differs on only two lines in P70-P71. The difference is
052590,000009: ## described in detail in Luminary memo #129, which was used
052591,000010: ## to perform the reconstruction. This file is intended to be a
052592,000011: ## faithful reconstruction, except that the code format has been
052593,000012: ## changed to conform to the requirements of the yaYUL assembler
052594,000013: ## rather than the original YUL assembler.
052595,000014: ## Reference: pp. 1241-1250
052596,000015: ## Contact: Ron Burkey <info@sandroid.org>.
052597,000016: ## Website: www.ibiblio.org/apollo/index.html
052598,000017: ## Mod history: 06/03/03 RSB. Began transcribing.
052599,000018: ## 05/14/05 RSB. Corrected website reference above.
052600,000019: ## 2017-01-06 RSB Page numbers now agree with those on the
052601,000020: ## original hardcopy, as opposed to the PDF page
052602,000021: ## numbers in 1701.pdf.
052603,000022: ## 2017-02-27 RSB Proofed comment text using octopus/ProoferComments.
052604,000023: ## 2017-03-17 RSB Comment-text fixes identified in diff'ing
052605,000024: ## Luminary 99 vs Comanche 55.
052606,000025: ## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130.
052607,000026:
|
|
Page 1241
|
052609,000028: 22,3773 BANK 22
052610,000029: 23,2000 SETLOC INFLIGHT
052611,000030: 23,2000 BANK
052612,000031:
052613,000032: 23,3251 E5,1642 EBANK= XSM
052614,000033:
052615,000034: # CALCGTA COMPUTES THE GYRO TORQUE ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
052616,000035:
052617,000036: # THE INPUT IS THE DESIRED STABLE MEMBER COORDINATES REFERRED TO PRESENT STABLE MEMBER COORDINATES. THE THREE
052618,000037: # HALF-UNIT VECTORS ARE STORED AT XDC, YDC, AND ZDC.
052619,000038:
052620,000039: # THE OUTPUTS ARE THE THREE GYRO TORQUING ANGLES TO BE APPLIED TO THE Y, Z, AND X GYROS AND ARE STORED DP AT IGC,
052621,000040: # MGC, AND OGC RESPECTIVELY.
052622,000041:
052623,000042: 23,3251 COUNT* $$/INFLT
052624,000043: 23,3251 71220 CALCGTA ITA DLOAD # PUSHDOWN 00-03, 16D-27D, 34D-37D
052625,000044: 23,3252 00051 S2 # XDC = (XD1 XD2 XD3)
052626,000045: 23,3253 02665 XDC # YDC = (YD1 YD2 YD3)
052627,000046: 23,3254 65325 PDDL PDDL # ZDC = (ZD1 ZD2 ZD3)
052628,000047: 23,3255 06524 HI6ZEROS
052629,000048: 23,3256 02671 XDC +4
052630,000049: 23,3257 55476 DCOMP VDEF
052631,000050: 23,3260 77656 UNIT
052632,000051: 23,3261 14027 STODL ZPRIME # ZP = UNIT(-XD3 0 XD1) = (ZP1 ZP2 ZP3)
052633,000052: 23,3262 00027 ZPRIME
052634,000053:
052635,000054: 23,3263 77742 SR1
052636,000055: 23,3264 14023 STODL SINTH # SIN(IGC) = ZP1
052637,000056: 23,3265 00033 ZPRIME +4
052638,000057: 23,3266 77742 SR1
052639,000058: 23,3267 34021 STCALL COSTH # COS(IGC) = ZP3
052640,000059: 23,3270 47322 ARCTRIG
052641,000060:
052642,000061: 23,3271 16742 STODL IGC # Y GYRO TORQUING ANGLE FRACTION OF REV.
052643,000062: 23,3272 02667 XDC +2
052644,000063: 23,3273 77742 SR1
052645,000064: 23,3274 14023 STODL SINTH # SIN(MGC) = XD2
052646,000065: 23,3275 00027 ZPRIME
052647,000066:
052648,000067: 23,3276 65205 DMP PDDL
052649,000068: 23,3277 02671 XDC +4 # PD00 = (ZP1)(XD3)
052650,000069: 23,3300 00033 ZPRIME +4
052651,000070:
052652,000071: 23,3301 45205 DMP DSU
052653,000072: 23,3302 02665 XDC # MPAC = (ZP3)(XD1)
052654,000073: 23,3303 77626 STADR
052655,000074: 23,3304 43756 STCALL COSTH # COS(MGC) = MPAC - PD00
052656,000075: 23,3305 47322 ARCTRIG
|
|
Page 1242
|
052658,000077: 23,3306 26744 STOVL MGC # Z GYRO TORQUING ANGLE FRACTION OF REV.
052659,000078: 23,3307 00027 ZPRIME
052660,000079: 23,3310 77641 DOT
052661,000080: 23,3311 02701 ZDC
052662,000081: 23,3312 24021 STOVL COSTH # COS(OGC) = ZP . ZDC
052663,000082: 23,3313 00027 ZPRIME
052664,000083: 23,3314 77641 DOT
052665,000084: 23,3315 02673 YDC
052666,000085: 23,3316 34023 STCALL SINTH # SIN(OGC) = ZP . YDC
052667,000086: 23,3317 47322 ARCTRIG
052668,000087:
052669,000088: 23,3320 36740 STCALL OGC # X GYRO TORQUING ANGLE FRACTION OF REV.
052670,000089: 23,3321 00051 S2
052671,000090:
|
|
Page 1243
|
052673,000092: # ARCTRIG COMPUTES AN ANGLE GIVEN THE SINE AND COSINE OF THIS ANGLE.
052674,000093:
052675,000094: # THE INPUTS ARE SIN/4 AND COS/4 STORED DP AT SINTH AND COSTH.
052676,000095:
052677,000096: # THE OUTPUT IS THE CALCULATED ANGLE BETWEEN +.5 AND -.5 REVOLUTIONS AND STORED AT THETA. THE OUTPUT IS ALSO
052678,000097: # AVAILABLE AT MPAC.
052679,000098:
052680,000099: 23,3322 51545 ARCTRIG DLOAD ABS # PUSHDOWN 16D-21D
052681,000100: 23,3323 00023 SINTH
052682,000101: 23,3324 50025 DSU BMN
052683,000102: 23,3325 07536 QTSN45 # ABS(SIN/4) - SIN(45)/4
052684,000103: 23,3326 47335 TRIG1 # IF (-45,45) OR (135,-135)
052685,000104:
052686,000105: 23,3327 72545 DLOAD SL1 # (45,135) OR (-135,-45)
052687,000106: 23,3330 00021 COSTH
052688,000107: 23,3331 75326 ACOS SIGN
052689,000108: 23,3332 00023 SINTH
052690,000109: 23,3333 00025 STORE THETA # X = ARCCOS(COS) WITH SIGN(SIN)
052691,000110: 23,3334 77616 RVQ
052692,000111:
052693,000112: 23,3335 72545 TRIG1 DLOAD SL1 # (-45,45) OR (135,-135)
052694,000113: 23,3336 00023 SINTH
052695,000114: 23,3337 77736 ASIN
052696,000115: 23,3340 14025 STODL THETA # X = ARCSIN(SIN) WITH SIGN(SIN)
052697,000116: 23,3341 00021 COSTH
052698,000117: 23,3342 77640 BMN
052699,000118: 23,3343 47346 TRIG2 # IF (135,-135)
052700,000119:
052701,000120: 23,3344 43545 DLOAD RVQ
052702,000121: 23,3345 00025 THETA # X = ARCSIN(SIN) (-45,45)
052703,000122:
052704,000123: 23,3346 75345 TRIG2 DLOAD SIGN # (135,-135)
052705,000124: 23,3347 06522 HIDPHALF
052706,000125: 23,3350 00023 SINTH
052707,000126: 23,3351 77625 DSU
052708,000127: 23,3352 00025 THETA
052709,000128: 23,3353 00025 STORE THETA # X = .5 WITH SIGN(SIN) - ARCSIN(SIN)
052710,000129: 23,3354 77616 RVQ # (+) - (+) OR (-) - (-)
052711,000130:
|
|
Page 1244
|
052713,000132: # SMNB, NBSM, AND AXISROT, WHICH USED TO APPEAR HERE, HAVE BEEN
052714,000133: # COMBINED IN A ROUTINE CALLED AX*SR*T, WHICH APPEARS AMONG THE POWERED
052715,000134: # FLIGHT SUBROUTINES.
052716,000135:
|
|
Page 1245
|
052718,000137: # CALCGA COMPUTES THE CDU DRIVING ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
052719,000138:
052720,000139: # THE INPUTS ARE 1) THE NAVIGATION BASE COORDINATES REFERRED TO ANY COORDINATE SYSTEM. THE THREE HALF-UNIT
052721,000140: # VECTORS ARE STORED AT XNB, YNB, AND ZNB. 2) THE DESIRED STABLE MEMBER COORDINATES REFERRED TO THE SAME
052722,000141: # COORDINATE SYSTEM ARE STORED AT XSM, YSM, AND ZSM.
052723,000142:
052724,000143: # THE OUTPUTS ARE THE THREE CDU DRIVING ANGLES AND ARE STORED SP AT THETAD, THETAD +1, AND THETAD +2.
052725,000144:
052726,000145: 23,3355 77601 CALCGA SETPD # PUSHDOWN 00-05, 16D-21D, 34D-37D
052727,000146: 23,3356 00001 0
052728,000147: 23,3357 47375 VLOAD VXV
052729,000148: 23,3360 02665 XNB # XNB = OGA (OUTER GIMBAL AXIS)
052730,000149: 23,3361 02651 YSM # YSM = IGA (INNER GIMBAL AXIS)
052731,000150: 23,3362 41456 UNIT PUSH # PD0 = UNIT(OGA X IGA) = MGA
052732,000151:
052733,000152: 23,3363 44041 DOT ITA
052734,000153: 23,3364 02701 ZNB
052735,000154: 23,3365 00051 S2
052736,000155: 23,3366 24021 STOVL COSTH # COS(OG) = MGA . ZNB
052737,000156: 23,3367 00001 0
052738,000157: 23,3370 77641 DOT
052739,000158: 23,3371 02673 YNB
052740,000159: 23,3372 34023 STCALL SINTH # SIN(OG) = MGA . YNB
052741,000160: 23,3373 47322 ARCTRIG
052742,000161: 23,3374 26740 STOVL OGC
052743,000162: 23,3375 00001 0
052744,000163:
052745,000164: 23,3376 50235 VXV DOT # PROVISION FOR MG ANGLE OF 90 DEGREES
052746,000165: 23,3377 02665 XNB
052747,000166: 23,3400 02651 YSM
052748,000167: 23,3401 77752 SL1
052749,000168: 23,3402 24021 STOVL COSTH # COS(MG) = IGA . (MGA X OGA)
052750,000169: 23,3403 02651 YSM
052751,000170: 23,3404 77641 DOT
052752,000171: 23,3405 02665 XNB
052753,000172: 23,3406 34023 STCALL SINTH # SIN(MG) = IGA . OGA
052754,000173: 23,3407 47322 ARCTRIG
052755,000174: 23,3410 02744 STORE MGC
052756,000175:
052757,000176: 23,3411 45246 ABS DSU
052758,000177: 23,3412 07540 .166...
052759,000178: 23,3413 77644 BPL
052760,000179: 23,3414 47433 GIMLOCK1 # IF ANGLE GREATER THAN 60 DEGREES
052761,000180:
052762,000181: 23,3415 50375 CALCGA1 VLOAD DOT
052763,000182: 23,3416 02657 ZSM
052764,000183: 23,3417 00001 0
052765,000184: 23,3420 24021 STOVL COSTH # COS(IG) = ZSM . MGA
052766,000185: 23,3421 02643 XSM
|
|
Page 1246
|
052768,000187: 23,3422 45441 DOT STADR
052769,000188: 23,3423 43754 STCALL SINTH # SIN(IG) = XSM . MGA
052770,000189: 23,3424 47322 ARCTRIG
052771,000190:
052772,000191: 23,3425 26742 STOVL IGC
052773,000192: 23,3426 02740 OGC
052774,000193: 23,3427 77634 RTB
052775,000194: 23,3430 21621 V1STO2S
052776,000195: 23,3431 34322 STCALL THETAD
052777,000196: 23,3432 00051 S2
052778,000197:
052779,000198: 23,3433 77776 GIMLOCK1 EXIT
052780,000199: 23,3434 05567 TC ALARM
052781,000200: 23,3435 00401 OCT 00401
052782,000201: 23,3436 05504 TC UPFLAG # GIMBAL LOCK HAS OCCURED
052783,000202: 23,3437 00056 ADRES GLOKFAIL
052784,000203:
052785,000204: 23,3440 06042 TC INTPRET
052786,000205: 23,3441 77650 GOTO
052787,000206: 23,3442 47415 CALCGA1
052788,000207:
|
|
Page 1247
|
052790,000209: # AXISGEN COMPUTES THE COORDINATES OF ONE COORDINATE SYSTEM REFERRED TO ANOTHER COORDINATE SYSTEM.
052791,000210:
052792,000211: # THE INPUTS ARE 1) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM A STORED AT STARAD. 2) THE STAR2 VECTOR
052793,000212: # REFERRED TO COORDINATE SYSTEM A STORED AT STARAD +6. 3) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM B STORED
052794,000213: # AT LOCATION 6 OF THE VAC AREA. 4) THE STAR2 VECTOR REFERRED TO COORDINATE SYSTEM B STORED AT LOCATION 12D OF
052795,000214: # THE VAC AREA.
052796,000215:
052797,000216: # THE OUTPUT DEFINES COORDINATE SYSTEM A REFERRED TO COORDINATE SYSTEM B. THE THREE HALF-UNIT VECTORS ARE STORED
052798,000217: # AT LOCATIONS XDC, XDC +6, XDC +12D, AND STARAD, STARAD +6, STARAD +12D.
052799,000218:
052800,000219: 23,3443 66370 AXISGEN AXT,1 SSP # PUSHDOWN 00-30D, 34D-37D
052801,000220: 23,3444 02714 STARAD +6
052802,000221: 23,3445 00051 S1
052803,000222: 23,3446 02700 STARAD -6
052804,000223:
052805,000224: 23,3447 77601 SETPD
052806,000225: 23,3450 00001 0
052807,000226: 23,3451 46773 AXISGEN1 VLOAD* VXV* # 06D UA = S1
052808,000227: 23,3452 02723 STARAD +12D,1 # STARAD +00D UB = S1
052809,000228: 23,3453 02731 STARAD +18D,1
052810,000229: 23,3454 77656 UNIT # 12D VA = UNIT(S1 X S2)
052811,000230: 23,3455 06731 STORE STARAD +18D,1 # STARAD +06D VB = UNIT(S1 X S2)
052812,000231: 23,3456 77773 VLOAD*
052813,000232: 23,3457 02723 STARAD +12D,1
052814,000233:
052815,000234: 23,3460 76433 VXV* VSL1
052816,000235: 23,3461 02731 STARAD +18D,1 # 18D WA = UA X VA
052817,000236: 23,3462 06737 STORE STARAD +24D,1 # STARAD +12D WB = UB X VB
052818,000237:
052819,000238: 23,3463 77700 TIX,1
052820,000239: 23,3464 47451 AXISGEN1
052821,000240:
052822,000241: 23,3465 66160 AXC,1 SXA,1
052823,000242: 23,3466 00006 6
052824,000243: 23,3467 00036 30D
052825,000244:
052826,000245: 23,3470 66370 AXT,1 SSP
052827,000246: 23,3471 00022 18D
052828,000247: 23,3472 00051 S1
052829,000248: 23,3473 00006 6
052830,000249:
052831,000250: 23,3474 66374 AXT,2 SSP
052832,000251: 23,3475 00006 6
052833,000252: 23,3476 00052 S2
052834,000253: 23,3477 00002 2
052835,000254:
052836,000255: 23,3500 76720 AXISGEN2 XCHX,1 VLOAD*
052837,000256: 23,3501 00036 30D # X1=-6 X2=+6 X1=-6 X2=+4 X1=-6 X2=+2
052838,000257: 23,3502 00001 0,1
052839,000258:
|
|
Page 1248
|
052841,000260: 23,3503 62757 VXSC* PDVL* # J=(UA)(UB1) J=(UA)(UB2) J=(UA)(UB3)
052842,000261: 23,3504 75062 STARAD +6,2
052843,000262: 23,3505 00007 6,1
052844,000263: 23,3506 77757 VXSC*
052845,000264: 23,3507 75054 STARAD +12D,2
052846,000265: 23,3510 30031 STOVL* 24D # K=(VA)(VB1) J=(VA)(VB2) J=(VA)(VB3)
052847,000266: 23,3511 00015 12D,1
052848,000267:
052849,000268: 23,3512 53357 VXSC* VAD
052850,000269: 23,3513 75046 STARAD +18D,2 # L=(WA)(WB1) J=(WA)(WB2) J=(WA)(WB3)
052851,000270: 23,3514 76455 VAD VSL1
052852,000271: 23,3515 00031 24D
052853,000272: 23,3516 53520 XCHX,1 UNIT
052854,000273: 23,3517 00036 30D
052855,000274: 23,3520 06707 STORE XDC +18D,1 # XDC = L+J+K YDC = L+J+K ZDC = L+J+K
052856,000275:
052857,000276: 23,3521 77700 TIX,1
052858,000277: 23,3522 47523 AXISGEN3
052859,000278:
052860,000279: 23,3523 77704 AXISGEN3 TIX,2
052861,000280: 23,3524 47500 AXISGEN2
052862,000281:
052863,000282: 23,3525 77775 VLOAD
052864,000283: 23,3526 02665 XDC
052865,000284: 23,3527 26707 STOVL STARAD
052866,000285: 23,3530 02673 YDC
052867,000286: 23,3531 26715 STOVL STARAD +6
052868,000287: 23,3532 02701 ZDC
052869,000288: 23,3533 02723 STORE STARAD +12D
052870,000289:
052871,000290: 23,3534 77616 RVQ
052872,000291:
|
|
Page 1249
|
052874,000293: 23,3535 05520 26075 QTSN45 2DEC .1768
052875,000294: 23,3537 05252 25253 .166... 2DEC .1666666667
052876,000295:
|
|
Page 1250
There is no source code on this page of the original assembly listing.
|
End of include-file INFLIGHT_ALIGNMENT_ROUTINES.agc. Parent file is MAIN.agc