Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files derive from a printout of Luminary 210 (Apollo 15-17
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Jim Lawton, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note that the date is the date of the printout, not the date of the program revision. |
053848,000002: ## Copyright: Public domain.
053849,000003: ## Filename: INFLIGHT_ALIGNMENT_ROUTINES.agc
053850,000004: ## Purpose: A section of Luminary revision 210.
053851,000005: ## It is part of the source code for the Lunar Module's (LM)
053852,000006: ## Apollo Guidance Computer (AGC) for Apollo 15-17.
053853,000007: ## This file is intended to be a faithful transcription, except
053854,000008: ## that the code format has been changed to conform to the
053855,000009: ## requirements of the yaYUL assembler rather than the
053856,000010: ## original YUL assembler.
053857,000011: ## Reference: pp. 1246-1255
053858,000012: ## Assembler: yaYUL
053859,000013: ## Contact: Ron Burkey <info@sandroid.org>.
053860,000014: ## Website: www.ibiblio.org/apollo/index.html
053861,000015: ## Mod history: 2016-11-17 JL Created from Luminary131 version.
053862,000016: ## 2016-12-07 RRB Updated for Luminary210.
053863,000017: ## 2016-12-26 RSB Comment-text proofed using ProoferComments
053864,000018: ## and corrected errors found.
053865,000019: ## 2017-03-17 RSB Comment-text fixes identified in diff'ing
053866,000020: ## Luminary 99 vs Comanche 55.
053867,000021:
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Page 1246 |
053869,000023: 22,3774 BANK 22
053870,000024: 23,2000 SETLOC INFLIGHT
053871,000025: 23,2000 BANK
053872,000026:
053873,000027: 23,3232 E5,1642 EBANK= XSM
053874,000028:
053875,000029: # CALCGTA COMPUTES THE GYRO TORQUE ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
053876,000030:
053877,000031: # THE INPUT IS THE DESIRED STABLE MEMBER COORDINATES REFERRED TO PRESENT STABLE MEMBER COORDINATES. THE THREE
053878,000032: # HALF-UNIT VECTORS ARE STORED AT XDC, YDC, AND ZDC.
053879,000033:
053880,000034: # THE OUTPUTS ARE THE THREE GYRO TORQUING ANGLES TO BE APPLIED TO THE Y, Z, AND X GYROS AND ARE STORED DP AT IGC,
053881,000035: # MGC, AND OGC RESPECTIVELY.
053882,000036:
053883,000037: 23,3232 COUNT* $$/INFLT
053884,000038: 23,3232 71220 CALCGTA ITA DLOAD # PUSHDOWN 00-03, 16D-27D, 34D-37D
053885,000039: 23,3233 00051 S2 # XDC = (XD1 XD2 XD3)
053886,000040: 23,3234 02665 XDC # YDC = (YD1 YD2 YD3)
053887,000041: 23,3235 65325 PDDL PDDL # ZDC = (ZD1 ZD2 ZD3)
053888,000042: 23,3236 06505 HI6ZEROS
053889,000043: 23,3237 02671 XDC +4
053890,000044: 23,3240 55476 DCOMP VDEF
053891,000045: 23,3241 77656 UNIT
053892,000046: 23,3242 14027 STODL ZPRIME # ZP = UNIT(-XD3 0 XD1) = (ZP1 ZP2 ZP3)
053893,000047: 23,3243 00027 ZPRIME
053894,000048:
053895,000049: 23,3244 77742 SR1
053896,000050: 23,3245 14023 STODL SINTH # SIN(IGC) = ZP1
053897,000051: 23,3246 00033 ZPRIME +4
053898,000052: 23,3247 77742 SR1
053899,000053: 23,3250 34021 STCALL COSTH # COS(IGC) = ZP3
053900,000054: 23,3251 47303 ARCTRIG
053901,000055:
053902,000056: 23,3252 16742 STODL IGC # Y GYRO TORQUING ANGLE FRACTION OF REV.
053903,000057: 23,3253 02667 XDC +2
053904,000058: 23,3254 77742 SR1
053905,000059: 23,3255 14023 STODL SINTH # SIN(MGC) = XD2
053906,000060: 23,3256 00027 ZPRIME
053907,000061:
053908,000062: 23,3257 65205 DMP PDDL
053909,000063: 23,3260 02671 XDC +4 # PD00 = (ZP1)(XD3)
053910,000064: 23,3261 00033 ZPRIME +4
053911,000065:
053912,000066: 23,3262 45205 DMP DSU
053913,000067: 23,3263 02665 XDC # MPAC = (ZP3)(XD1)
053914,000068: 23,3264 77626 STADR
053915,000069: 23,3265 43756 STCALL COSTH # COS(MGC) = MPAC - PD00
053916,000070: 23,3266 47303 ARCTRIG
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Page 1247 |
053918,000072: 23,3267 26744 STOVL MGC # Z GYRO TORQUING ANGLE FRACTION OF REV.
053919,000073: 23,3270 00027 ZPRIME
053920,000074: 23,3271 77641 DOT
053921,000075: 23,3272 02701 ZDC
053922,000076: 23,3273 24021 STOVL COSTH # COS(OGC) = ZP . ZDC
053923,000077: 23,3274 00027 ZPRIME
053924,000078: 23,3275 77641 DOT
053925,000079: 23,3276 02673 YDC
053926,000080: 23,3277 34023 STCALL SINTH # SIN(OGC) = ZP . YDC
053927,000081: 23,3300 47303 ARCTRIG
053928,000082:
053929,000083: 23,3301 36740 STCALL OGC # X GYRO TORQUING ANGLE FRACTION OF REV.
053930,000084: 23,3302 00051 S2
053931,000085:
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Page 1248 |
053933,000087: # ARCTRIG COMPUTES AN ANGLE GIVEN THE SINE AND COSINE OF THIS ANGLE.
053934,000088:
053935,000089: # THE INPUTS ARE SIN/4 AND COS/4 STORED DP AT SINTH AND COSTH.
053936,000090:
053937,000091: # THE OUTPUT IS THE CALCULATED ANGLE BETWEEN +.5 AND -.5 REVOLUTIONS AND STORED AT THETA. THE OUTPUT IS ALSO
053938,000092: # AVAILABLE AT MPAC.
053939,000093:
053940,000094: 23,3303 51545 ARCTRIG DLOAD ABS # PUSHDOWN 16D-21D
053941,000095: 23,3304 00023 SINTH
053942,000096: 23,3305 50025 DSU BMN
053943,000097: 23,3306 07517 QTSN45 # ABS(SIN/4) - SIN(45)/4
053944,000098: 23,3307 47316 TRIG1 # IF (-45,45) OR (135,-135)
053945,000099:
053946,000100: 23,3310 72545 DLOAD SL1 # (45,135) OR (-135,-45)
053947,000101: 23,3311 00021 COSTH
053948,000102: 23,3312 75326 ACOS SIGN
053949,000103: 23,3313 00023 SINTH
053950,000104: 23,3314 00025 STORE THETA # X = ARCCOS(COS) WITH SIGN(SIN)
053951,000105: 23,3315 77616 RVQ
053952,000106:
053953,000107: 23,3316 72545 TRIG1 DLOAD SL1 # (-45,45) OR (135,-135)
053954,000108: 23,3317 00023 SINTH
053955,000109: 23,3320 77736 ASIN
053956,000110: 23,3321 14025 STODL THETA # X = ARCSIN(SIN) WITH SIGN(SIN)
053957,000111: 23,3322 00021 COSTH
053958,000112: 23,3323 77640 BMN
053959,000113: 23,3324 47327 TRIG2 # IF (135,-135)
053960,000114:
053961,000115: 23,3325 43545 DLOAD RVQ
053962,000116: 23,3326 00025 THETA # X = ARCSIN(SIN) (-45,45)
053963,000117:
053964,000118: 23,3327 75345 TRIG2 DLOAD SIGN # (135,-135)
053965,000119: 23,3330 06503 HIDPHALF
053966,000120: 23,3331 00023 SINTH
053967,000121: 23,3332 77625 DSU
053968,000122: 23,3333 00025 THETA
053969,000123: 23,3334 00025 STORE THETA # X = .5 WITH SIGN(SIN) - ARCSIN(SIN)
053970,000124: 23,3335 77616 RVQ # (+) - (+) OR (-) - (-)
053971,000125:
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Page 1249 |
053973,000127: # SMNB, NBSM, AND AXISROT, WHICH USED TO APPEAR HERE, HAVE BEEN
053974,000128: # COMBINED IN A ROUTINE CALLED AX*SR*T, WHICH APPEARS AMONG THE POWERED
053975,000129: # FLIGHT SUBROUTINES.
053976,000130:
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Page 1250 |
053978,000132: # CALCGA COMPUTES THE CDU DRIVING ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
053979,000133:
053980,000134: # THE INPUTS ARE 1) THE NAVIGATION BASE COORDINATES REFERRED TO ANY COORDINATE SYSTEM. THE THREE HALF-UNIT
053981,000135: # VECTORS ARE STORED AT XNB,YNB, AND ZNB. 2) THE DESIRED STABLE MEMBER COORDINATES REFERRED TO THE SAME
053982,000136: # COORDINATE SYSTEM ARE STORED AT XSM, YSM, AND ZSM.
053983,000137:
053984,000138: # THE OUTPUTS ARE THE THREE CDU DRIVING ANGLES AND ARE STORED SP AT THETAD, THETAD +1, AND THETAD +2.
053985,000139:
053986,000140: 23,3336 77601 CALCGA SETPD # PUSHDOWN 00-05, 16D-21D, 34D-37D
053987,000141: 23,3337 00001 0
053988,000142: 23,3340 47375 VLOAD VXV
053989,000143: 23,3341 02665 XNB # XNB = OGA (OUTER GIMBAL AXIS)
053990,000144: 23,3342 02651 YSM # YSM = IGA (INNER GIMBAL AXIS)
053991,000145: 23,3343 41456 UNIT PUSH # PD0 = UNIT(OGA X IGA) = MGA
053992,000146:
053993,000147: 23,3344 44041 DOT ITA
053994,000148: 23,3345 02701 ZNB
053995,000149: 23,3346 00051 S2
053996,000150: 23,3347 24021 STOVL COSTH # COS(OG) = MGA . ZNB
053997,000151: 23,3350 00001 0
053998,000152: 23,3351 77641 DOT
053999,000153: 23,3352 02673 YNB
054000,000154: 23,3353 34023 STCALL SINTH # SIN(OG) = MGA . YNB
054001,000155: 23,3354 47303 ARCTRIG
054002,000156: 23,3355 26740 STOVL OGC
054003,000157: 23,3356 00001 0
054004,000158:
054005,000159: 23,3357 50235 VXV DOT # PROVISION FOR MG ANGLE OF 90 DEGREES
054006,000160: 23,3360 02665 XNB
054007,000161: 23,3361 02651 YSM
054008,000162: 23,3362 77752 SL1
054009,000163: 23,3363 24021 STOVL COSTH # COS(MG) = IGA . (MGA X OGA)
054010,000164: 23,3364 02651 YSM
054011,000165: 23,3365 77641 DOT
054012,000166: 23,3366 02665 XNB
054013,000167: 23,3367 34023 STCALL SINTH # SIN(MG) = IGA . OGA
054014,000168: 23,3370 47303 ARCTRIG
054015,000169: 23,3371 02744 STORE MGC
054016,000170:
054017,000171: 23,3372 45246 ABS DSU
054018,000172: 23,3373 07521 .166...
054019,000173: 23,3374 77644 BPL
054020,000174: 23,3375 47414 GIMLOCK1 # IF ANGLE GREATER THAN 60 DEGREES
054021,000175:
054022,000176: 23,3376 50375 CALCGA1 VLOAD DOT
054023,000177: 23,3377 02657 ZSM
054024,000178: 23,3400 00001 0
054025,000179: 23,3401 24021 STOVL COSTH # COS(IG) = ZSM . MGA
054026,000180: 23,3402 02643 XSM
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Page 1251 |
054028,000182: 23,3403 45441 DOT STADR
054029,000183: 23,3404 43754 STCALL SINTH # SIN(IG) = XSM . MGA
054030,000184: 23,3405 47303 ARCTRIG
054031,000185:
054032,000186: 23,3406 26742 STOVL IGC
054033,000187: 23,3407 02740 OGC
054034,000188: 23,3410 77634 RTB
054035,000189: 23,3411 21630 V1STO2S
054036,000190: 23,3412 34322 STCALL THETAD
054037,000191: 23,3413 00051 S2
054038,000192:
054039,000193: 23,3414 77776 GIMLOCK1 EXIT
054040,000194: 23,3415 05571 TC ALARM
054041,000195: 23,3416 00401 OCT 00401
054042,000196: 23,3417 05506 TC UPFLAG # GIMBAL LOCK HAS OCCURED
054043,000197: 23,3420 00056 ADRES GLOKFAIL
054044,000198:
054045,000199: 23,3421 06060 TC INTPRET
054046,000200: 23,3422 77650 GOTO
054047,000201: 23,3423 47376 CALCGA1
054048,000202:
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Page 1252 |
054050,000204: # AXISGEN COMPUTES THE COORDINATES OF ONE COORDINATE SYSTEM REFERRED TO ANOTHER COORDINATE SYSTEM.
054051,000205:
054052,000206: # THE INPUTS ARE 1) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM A STORED AT STARAD. 2) THE STAR2 VECTOR
054053,000207: # REFERRED TO COORDINATE SYSTEM A STORED AT STARAD +6. 3) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM B STORED
054054,000208: # AT LOCATION 6 OF THE VAC AREA. 4) THE STAR2 VECTOR REFERRED TO COORDINATE SYSTEM B STORED AT LOCATION 12D OF
054055,000209: # THE VAC AREA.
054056,000210:
054057,000211: # THE OUTPUT DEFINES COORDINATE SYSTEM A REFERRED TO COORDINATE SYSTEM B. THE THREE HALF-UNIT VECTORS ARE STORED
054058,000212: # AT LOCATIONS XDC, XDC +6, XDC +12D, AND STARAD, STARAD +6, STARAD +12D.
054059,000213:
054060,000214: 23,3424 66370 AXISGEN AXT,1 SSP # PUSHDOWN 00-30D, 34D-37D
054061,000215: 23,3425 02714 STARAD +6
054062,000216: 23,3426 00051 S1
054063,000217: 23,3427 02700 STARAD -6
054064,000218:
054065,000219: 23,3430 77601 SETPD
054066,000220: 23,3431 00001 0
054067,000221: 23,3432 46773 AXISGEN1 VLOAD* VXV* # 06D UA = S1
054068,000222: 23,3433 02723 STARAD +12D,1 # STARAD +00D UB = S1
054069,000223: 23,3434 02731 STARAD +18D,1
054070,000224: 23,3435 77656 UNIT # 12D VA = UNIT(S1 X S2)
054071,000225: 23,3436 06731 STORE STARAD +18D,1 # STARAD +06D VB = UNIT(S1 X S2)
054072,000226: 23,3437 77773 VLOAD*
054073,000227: 23,3440 02723 STARAD +12D,1
054074,000228:
054075,000229: 23,3441 76433 VXV* VSL1
054076,000230: 23,3442 02731 STARAD +18D,1 # 18D WA = UA X VA
054077,000231: 23,3443 06737 STORE STARAD +24D,1 # STARAD +12D WB = UB X VB
054078,000232:
054079,000233: 23,3444 77700 TIX,1
054080,000234: 23,3445 47432 AXISGEN1
054081,000235:
054082,000236: 23,3446 66160 AXC,1 SXA,1
054083,000237: 23,3447 00006 6
054084,000238: 23,3450 00036 30D
054085,000239:
054086,000240: 23,3451 66370 AXT,1 SSP
054087,000241: 23,3452 00022 18D
054088,000242: 23,3453 00051 S1
054089,000243: 23,3454 00006 6
054090,000244:
054091,000245: 23,3455 66374 AXT,2 SSP
054092,000246: 23,3456 00006 6
054093,000247: 23,3457 00052 S2
054094,000248: 23,3460 00002 2
054095,000249:
054096,000250: 23,3461 76720 AXISGEN2 XCHX,1 VLOAD*
054097,000251: 23,3462 00036 30D # X1=-6 X2=+6 X1=-6 X2=+4 X1=-6 X2=+2
054098,000252: 23,3463 00001 0,1
054099,000253:
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Page 1253 |
054101,000255: 23,3464 62757 VXSC* PDVL* # J=(UA)(UB1) J=(UA)(UB2) J=(UA)(UB3)
054102,000256: 23,3465 75062 STARAD +6,2
054103,000257: 23,3466 00007 6,1
054104,000258: 23,3467 77757 VXSC*
054105,000259: 23,3470 75054 STARAD +12D,2
054106,000260: 23,3471 30031 STOVL* 24D # K=(VA)(VB1) J=(VA)(VB2) J=(VA)(VB3)
054107,000261: 23,3472 00015 12D,1
054108,000262:
054109,000263: 23,3473 53357 VXSC* VAD
054110,000264: 23,3474 75046 STARAD +18D,2 # L=(WA)(WB1) J=(WA)(WB2) J=(WA)(WB3)
054111,000265: 23,3475 76455 VAD VSL1
054112,000266: 23,3476 00031 24D
054113,000267: 23,3477 53520 XCHX,1 UNIT
054114,000268: 23,3500 00036 30D
054115,000269: 23,3501 06707 STORE XDC +18D,1 # XDC = L+J+K YDC = L+J+K ZDC = L+J+K
054116,000270:
054117,000271: 23,3502 77700 TIX,1
054118,000272: 23,3503 47504 AXISGEN3
054119,000273:
054120,000274: 23,3504 77704 AXISGEN3 TIX,2
054121,000275: 23,3505 47461 AXISGEN2
054122,000276:
054123,000277: 23,3506 77775 VLOAD
054124,000278: 23,3507 02665 XDC
054125,000279: 23,3510 26707 STOVL STARAD
054126,000280: 23,3511 02673 YDC
054127,000281: 23,3512 26715 STOVL STARAD +6
054128,000282: 23,3513 02701 ZDC
054129,000283: 23,3514 02723 STORE STARAD +12D
054130,000284:
054131,000285: 23,3515 77616 RVQ
054132,000286:
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Page 1254 |
054134,000288: 23,3516 05520 26075 QTSN45 2DEC .1768
054135,000289: 23,3520 05252 25253 .166... 2DEC .1666666667
054136,000290:
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Page 1255 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