Source Code
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These source-code files are part of a reconstructed copy of Comanche 45/2 (AKA Manche45 revision 2),
the final, flown mission release of the Apollo 10 Command Module (CM) Apollo Guidance
Computer (AGC) software. Comanche 45/2 was preceded by Comanche 44 and Comanche 45. The
reconstruction is believed to be exactly accurate, but in the absence of an actual Apollo-era
listing of Comanche 45/2, some explanation of the reconstruction process is needed
to insure confidence in that accuracy.
The starting point was the source code of Comanche 45 (itself previously accurately
reconstructed). Comanche 45 source code was then modified by incorporating changes
known from contemporary documentation to have been made between revisions 45 and 45/2.
The now-reconstructed Comanche 45/2 source code was
verified by assembling it and checking that the assembled code had
the expected known-correct memory-bank checksums.
Note that page numbers in the reconstructed code tend to match those in the Comanche 55, the
most-similar revision of Comanche for which we have access to an actual non-reconstructed hardcopy;
the source code would likely have different page numbers in a contemporary
Comanche 45 listing.
Annotations that were not present in the contemporary source code have been added to the reconstructed
code to justify each change relative to Comanche 44. Here's a guide to the Apollo documentation referenced
in those annotations:
Comments expected to have been present in 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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057611,000002: ## Copyright: Public domain.
057612,000003: ## Filename: INFLIGHT_ALIGNMENT_ROUTINES.agc
057613,000004: ## Purpose: A section of Manche45 revision 2.
057614,000005: ## It is part of the reconstructed source code for the
057615,000006: ## final, flown release of the flight software for the Command
057616,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
057617,000008: ## The code has been recreated from a copy of Comanche 055. It
057618,000009: ## has been adapted such that the resulting bugger words
057619,000010: ## exactly match those specified for Manche 45/2 in NASA drawing
057620,000011: ## 2021153D, which gives relatively high confidence that the
057621,000012: ## reconstruction is correct.
057622,000013: ## Assembler: yaYUL
057623,000014: ## Contact: Ron Burkey <info@sandroid.org>.
057624,000015: ## Website: www.ibiblio.org/apollo/index.html
057625,000016: ## Mod history: 2020-12-24 MAS Created from Comanche 45.
057626,000017:
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Page 1355
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057628,000019: 22,3510 BANK 22
057629,000020: 23,2000 SETLOC INFLIGHT
057630,000021: 23,2000 BANK
057631,000022:
057632,000023: 23,3205 E5,1671 EBANK= XSM
057633,000024:
057634,000025: # CALCGTA COMPUTES THE GYRO TORQUE ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
057635,000026:
057636,000027: # THE INPUT IS THE DESIRED STABLE MEMBER COORDINATES REFERRED TO PRESENT STABLE MEMBER COORDINATES. THE THREE
057637,000028: # HALF-UNIT VECTORS ARE STORED AT XDC, YDC, AND ZDC.
057638,000029:
057639,000030: # THE OUTPUTS ARE THE THREE GYRO TORQUING ANGLES TO BE APPLIED TO THE Y, Z, AND X GYROS AND ARE STORED DP AT IGC,
057640,000031: # MGC, AND OGC RESPECTIVELY.
057641,000032:
057642,000033: 23,3205 COUNT 23/INFLT
057643,000034:
057644,000035: 23,3205 71220 CALCGTA ITA DLOAD # PUSHDOWN 00-03, 16D-27D, 34D-37D
057645,000036: 23,3206 00051 S2 # XDC = (XD1 XD2 XD3)
057646,000037: 23,3207 02714 XDC # YDC = (YD1 YD2 YD3)
057647,000038: 23,3210 65325 PDDL PDDL # ZDC = (ZD1 ZD2 ZD3)
057648,000039: 23,3211 15335 HI6ZEROS
057649,000040: 23,3212 02720 XDC +4
057650,000041: 23,3213 55476 DCOMP VDEF
057651,000042: 23,3214 77656 UNIT
057652,000043: 23,3215 14027 STODL ZPRIME # ZP = UNIT(-XD3 0 XD1) = (ZP1 ZP2 ZP3)
057653,000044: 23,3216 00027 ZPRIME
057654,000045:
057655,000046: 23,3217 77742 SR1
057656,000047: 23,3220 14023 STODL SINTH # SIN(IGC) = ZP1
057657,000048: 23,3221 00033 ZPRIME +4
057658,000049: 23,3222 77742 SR1
057659,000050: 23,3223 34021 STCALL COSTH # COS(IGC) = ZP3
057660,000051: 23,3224 47256 ARCTRIG
057661,000052:
057662,000053: 23,3225 16762 STODL IGC # Y GYRO TORQUING ANGLE FRACTION OF REV.
057663,000054: 23,3226 02716 XDC +2
057664,000055: 23,3227 77742 SR1
057665,000056: 23,3230 14023 STODL SINTH # SIN(MGC) = XD2
057666,000057: 23,3231 00027 ZPRIME
057667,000058:
057668,000059: 23,3232 65205 DMP PDDL
057669,000060: 23,3233 02720 XDC +4 # PD00 = (ZP1)(XD3)
057670,000061: 23,3234 00033 ZPRIME +4
057671,000062:
057672,000063: 23,3235 45205 DMP DSU
057673,000064: 23,3236 02714 XDC # MPAC = (ZP3)(XD1)
057674,000065: 23,3237 77626 STADR
057675,000066: 23,3240 43756 STCALL COSTH # COS(MGC) = MPAC - PD00
057676,000067: 23,3241 47256 ARCTRIG
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Page 1356
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057678,000069: 23,3242 26764 STOVL MGC # Z GYRO TORQUING ANGLE FRACTION OF REV.
057679,000070: 23,3243 00027 ZPRIME
057680,000071: 23,3244 77641 DOT
057681,000072: 23,3245 02730 ZDC
057682,000073: 23,3246 24021 STOVL COSTH # COS(OGC) = ZP . ZDC
057683,000074: 23,3247 00027 ZPRIME
057684,000075: 23,3250 77641 DOT
057685,000076: 23,3251 02722 YDC
057686,000077: 23,3252 34023 STCALL SINTH # SIN(OGC) = ZP . YDC
057687,000078: 23,3253 47256 ARCTRIG
057688,000079:
057689,000080: 23,3254 36760 STCALL OGC # X GYRO TORQUING ANGLE FRACTION OF REV.
057690,000081: 23,3255 00051 S2
057691,000082:
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Page 1357
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057693,000084: # ARCTRIG COMPUTES AN ANGLE GIVEN THE SINE AND COSINE OF THIS ANGLE.
057694,000085:
057695,000086: # THE INPUTS ARE SIN/4 AND COS/4 STORED DP AT SINTH AND COSTH.
057696,000087:
057697,000088: # THE OUTPUT IS THE CALCULATED ANGLE BETWEEN +.5 AND -.5 REVOLUTIONS AND STORED AT THETA. THE OUTPUT IS ALSO
057698,000089: # AVAILABLE AT MPAC.
057699,000090:
057700,000091: 23,3256 51545 ARCTRIG DLOAD ABS # PUSHDOWN 16D-21D
057701,000092: 23,3257 00023 SINTH
057702,000093: 23,3260 50025 DSU BMN
057703,000094: 23,3261 07474 QTSN45 # ABS(SIN/4) - SIN(45)/4
057704,000095: 23,3262 47271 TRIG1 # IF (-45,45) OR (135,-135)
057705,000096:
057706,000097: 23,3263 72545 DLOAD SL1 # (45,135) OR (-135,-45)
057707,000098: 23,3264 00021 COSTH
057708,000099: 23,3265 75326 ACOS SIGN
057709,000100: 23,3266 00023 SINTH
057710,000101: 23,3267 00025 STORE THETA # X = ARCCOS(COS) WITH SIGN(SIN)
057711,000102: 23,3270 77616 RVQ
057712,000103:
057713,000104: 23,3271 72545 TRIG1 DLOAD SL1 # (-45,45) OR (135,-135)
057714,000105: 23,3272 00023 SINTH
057715,000106: 23,3273 77736 ASIN
057716,000107: 23,3274 14025 STODL THETA # X = ARCSIN(SIN) WITH SIGN(SIN)
057717,000108: 23,3275 00021 COSTH
057718,000109: 23,3276 77640 BMN
057719,000110: 23,3277 47302 TRIG2 # IF (135,-135)
057720,000111:
057721,000112: 23,3300 43545 DLOAD RVQ
057722,000113: 23,3301 00025 THETA # X = ARCSIN(SIN) (-45,45)
057723,000114:
057724,000115: 23,3302 75345 TRIG2 DLOAD SIGN # (135,-135)
057725,000116: 23,3303 15333 HIDPHALF
057726,000117: 23,3304 00023 SINTH
057727,000118: 23,3305 77625 DSU
057728,000119: 23,3306 00025 THETA
057729,000120: 23,3307 00025 STORE THETA # X = .5 WITH SIGN(SIN) - ARCSIN(SIN)
057730,000121: 23,3310 77616 RVQ # (+) - (+) OR (-) - (-)
057731,000122:
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Page 1358
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057733,000124: # SMNB, NBSM, AND AXISROT, WHICH USED TO APPEAR HERE, HAVE BEEN
057734,000125: # COMBINED IN A ROUTINE CALLED AX*SR*T, WHICH APPEARS AMONG THE POWERED
057735,000126: # FLIGHT SUBROUTINES.
057736,000127:
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Page 1359
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057738,000129: # CALCGA COMPUTES THE CDU DRIVING ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
057739,000130:
057740,000131: # THE INPUTS ARE 1) THE NAVIGATION BASE COORDINATES REFERRED TO ANY COORDINATE SYSTEM. THE THREE HALF-UNIT
057741,000132: # VECTORS ARE STORED AT XNB, YNB, AND ZNB. 2) THE DESIRED STABLE MEMBER COORDINATES REFERRED TO THE SAME
057742,000133: # COORDINATE SYSTEM ARE STORED AT XSM, YSM, AND ZSM.
057743,000134:
057744,000135: # THE OUTPUTS ARE THE THREE CDU DRIVING ANGLES AND ARE STORED SP AT THETAD, THETAD +1, AND THETAD +2.
057745,000136:
057746,000137: 23,3311 77601 CALCGA SETPD # PUSHDOWN 00-05, 16D-21D, 34D-37D
057747,000138: 23,3312 00001 0
057748,000139: 23,3313 47375 VLOAD VXV
057749,000140: 23,3314 02714 XNB # XNB = OGA (OUTER GIMBAL AXIS)
057750,000141: 23,3315 02700 YSM # YSM = IGA (INNER GIMBAL AXIS)
057751,000142: 23,3316 41456 UNIT PUSH # PD0 = UNIT(OGA X IGA) = MGA
057752,000143:
057753,000144: 23,3317 44041 DOT ITA
057754,000145: 23,3320 02730 ZNB
057755,000146: 23,3321 00051 S2
057756,000147: 23,3322 24021 STOVL COSTH # COS(OG) = MGA . ZNB
057757,000148: 23,3323 00001 0
057758,000149: 23,3324 77641 DOT
057759,000150: 23,3325 02722 YNB
057760,000151: 23,3326 34023 STCALL SINTH # SIN(OG) = MGA . YNB
057761,000152: 23,3327 47256 ARCTRIG
057762,000153: 23,3330 26760 STOVL OGC
057763,000154: 23,3331 00001 0
057764,000155:
057765,000156: 23,3332 50235 VXV DOT # PROVISION FOR MG ANGLE OF 90 DEGREES
057766,000157: 23,3333 02714 XNB
057767,000158: 23,3334 02700 YSM
057768,000159: 23,3335 77752 SL1
057769,000160: 23,3336 24021 STOVL COSTH # COS(MG) = IGA . (MGA X OGA)
057770,000161: 23,3337 02700 YSM
057771,000162: 23,3340 77641 DOT
057772,000163: 23,3341 02714 XNB
057773,000164: 23,3342 34023 STCALL SINTH # SIN(MG) = IGA . OGA
057774,000165: 23,3343 47256 ARCTRIG
057775,000166: 23,3344 02764 STORE MGC
057776,000167:
057777,000168: 23,3345 45246 ABS DSU
057778,000169: 23,3346 07476 .166...
057779,000170: 23,3347 77644 BPL
057780,000171: 23,3350 47371 GIMLOCK1 # IF ANGLE GREATER THAN 60 DEGREES
057781,000172:
057782,000173: 23,3351 50375 CALCGA1 VLOAD DOT
057783,000174: 23,3352 02706 ZSM
057784,000175: 23,3353 00001 0
057785,000176: 23,3354 24021 STOVL COSTH # COS(IG) = ZSM . MGA
057786,000177: 23,3355 02672 XSM
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Page 1360
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057788,000179: 23,3356 45441 DOT STADR
057789,000180: 23,3357 43754 STCALL SINTH # SIN(IG) = XSM . MGA
057790,000181: 23,3360 47256 ARCTRIG
057791,000182:
057792,000183: 23,3361 26762 STOVL IGC
057793,000184: 23,3362 02760 OGC
057794,000185: 23,3363 43034 RTB BONCLR
057795,000186: 23,3364 45552 V1STO2S
057796,000187: 23,3365 00200 CPHIFLAG
057797,000188: 23,3366 00051 S2
057798,000189: 23,3367 35156 STCALL THETAD
057799,000190: 23,3370 00051 S2
057800,000191:
057801,000192: 23,3371 77776 GIMLOCK1 EXIT
057802,000193: 23,3372 05650 TC ALARM
057803,000194: 23,3373 00401 OCT 00401
057804,000195: 23,3374 05546 TC UPFLAG # GIMBAL LOCK HAS OCCURED
057805,000196: 23,3375 00056 ADRES GLOKFAIL
057806,000197:
057807,000198: 23,3376 06006 TC INTPRET
057808,000199: 23,3377 77650 GOTO
057809,000200: 23,3400 47351 CALCGA1
057810,000201:
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Page 1361
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057812,000203: # AXISGEN COMPUTES THE COORDINATES OF ONE COORDINATE SYSTEM REFERRED TO ANOTHER COORDINATE SYSTEM.
057813,000204:
057814,000205: # THE INPUTS ARE 1) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM A STORED AT STARAD. 2) THE STAR2 VECTOR
057815,000206: # REFERRED TO COORDINATE SYSTEM A STORED AT STARAD +6. 3) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM B STORED
057816,000207: # AT LOCATION 6 OF THE VAC AREA. 4) THE STAR2 VECTOR REFERRED TO COORDINATE SYSTEM B STORED AT LOCATION 12D OF
057817,000208: # THE VAC AREA.
057818,000209:
057819,000210: # THE OUTPUT DEFINES COORDINATE SYSTEM A REFERRED TO COORDINATE SYSTEM B. THE THREE HALF-UNIT VECTORS ARE STORED
057820,000211: # AT LOCATIONS XDC, XDC +6, XDC +12D, AND STARAD, STARAD +6, STARAD +12D.
057821,000212:
057822,000213: 23,3401 66370 AXISGEN AXT,1 SSP # PUSHDOWN 00-30D, 34D-37D
057823,000214: 23,3402 02743 STARAD +6
057824,000215: 23,3403 00051 S1
057825,000216: 23,3404 02727 STARAD -6
057826,000217:
057827,000218: 23,3405 77601 SETPD
057828,000219: 23,3406 00001 0
057829,000220: 23,3407 46773 AXISGEN1 VLOAD* VXV* # 06D UA = S1
057830,000221: 23,3410 02752 STARAD +12D,1 # STARAD +00D UB = S1
057831,000222: 23,3411 02760 STARAD +18D,1
057832,000223: 23,3412 77656 UNIT # 12D VA = UNIT(S1 X S2)
057833,000224: 23,3413 06760 STORE STARAD +18D,1 # STARAD +06D VB = UNIT(S1 X S2)
057834,000225: 23,3414 77773 VLOAD*
057835,000226: 23,3415 02752 STARAD +12D,1
057836,000227:
057837,000228: 23,3416 76433 VXV* VSL1
057838,000229: 23,3417 02760 STARAD +18D,1 # 18D WA = UA X VA
057839,000230: 23,3420 06766 STORE STARAD +24D,1 # STARAD +12D WB = UB X VB
057840,000231:
057841,000232: 23,3421 77700 TIX,1
057842,000233: 23,3422 47407 AXISGEN1
057843,000234:
057844,000235: 23,3423 66160 AXC,1 SXA,1
057845,000236: 23,3424 00006 6
057846,000237: 23,3425 00036 30D
057847,000238:
057848,000239: 23,3426 66370 AXT,1 SSP
057849,000240: 23,3427 00022 18D
057850,000241: 23,3430 00051 S1
057851,000242: 23,3431 00006 6
057852,000243:
057853,000244: 23,3432 66374 AXT,2 SSP
057854,000245: 23,3433 00006 6
057855,000246: 23,3434 00052 S2
057856,000247: 23,3435 00002 2
057857,000248:
057858,000249: 23,3436 76720 AXISGEN2 XCHX,1 VLOAD*
057859,000250: 23,3437 00036 30D # X1=-6 X2=+6 X1=-6 X2=+4 X1=-6 X2=+2
057860,000251: 23,3440 00001 0,1
057861,000252:
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Page 1362
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057863,000254: 23,3441 62757 VXSC* PDVL* # J=(UA)(UB1) J=(UA)(UB2) J=(UA)(UB3)
057864,000255: 23,3442 75033 STARAD +6,2
057865,000256: 23,3443 00007 6,1
057866,000257: 23,3444 77757 VXSC*
057867,000258: 23,3445 75025 STARAD +12D,2
057868,000259: 23,3446 30031 STOVL* 24D # K=(VA)(VB1) J=(VA)(VB2) J=(VA)(VB3)
057869,000260: 23,3447 00015 12D,1
057870,000261:
057871,000262: 23,3450 53357 VXSC* VAD
057872,000263: 23,3451 75017 STARAD +18D,2 # L=(WA)(WB1) J=(WA)(WB2) J=(WA)(WB3)
057873,000264: 23,3452 76455 VAD VSL1
057874,000265: 23,3453 00031 24D
057875,000266: 23,3454 53520 XCHX,1 UNIT
057876,000267: 23,3455 00036 30D
057877,000268: 23,3456 06736 STORE XDC +18D,1 # XDC = L+J+K YDC = L+J+K ZDC = L+J+K
057878,000269:
057879,000270: 23,3457 77700 TIX,1
057880,000271: 23,3460 47461 AXISGEN3
057881,000272:
057882,000273: 23,3461 77704 AXISGEN3 TIX,2
057883,000274: 23,3462 47436 AXISGEN2
057884,000275:
057885,000276: 23,3463 77775 VLOAD
057886,000277: 23,3464 02714 XDC
057887,000278: 23,3465 26736 STOVL STARAD
057888,000279: 23,3466 02722 YDC
057889,000280: 23,3467 26744 STOVL STARAD +6
057890,000281: 23,3470 02730 ZDC
057891,000282: 23,3471 02752 STORE STARAD +12D
057892,000283:
057893,000284: 23,3472 77616 RVQ
057894,000285:
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Page 1363
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057896,000287: 23,3473 05520 26075 QTSN45 2DEC .1768
057897,000288: 23,3475 05252 25253 .166... 2DEC .1666666667
057898,000289:
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Page 1364
This page is empty.
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057901,000292:
057902,000293:
057903,000294:
End of include-file INFLIGHT_ALIGNMENT_ROUTINES.agc. Parent file is MAIN.agc