Source Code
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These source-code files were transcribed from a printout in Don Eyles's personal
collection, scanned by archive.org, and financially sponsored by Peter McDermott.
A team of volunteers performed the transcription and proof-reading. The scanned
page images are available at
the Virtual AGC Project website, as well as higher-quality (but much larger)
images at
the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating
"issues" at
the Virtual AGC Project's GitHub Repository. Notations on the program listing read, in part:
YUL SYSTEM FOR AGC: NEW PROGRAM SHEPATIN BY EYLES
DEC 13, 1966
THIS PROGRAM WAS ASSEMBLED AS A VERSION OF REVISION 37
OF PROGRAM SUNBURST BY LEM GROUP
Note that the date is the date of the printout, not the date of the program revision.
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035304,000002: ## Copyright: Public domain.
035305,000003: ## Filename: FIND_CDU_DESIRED.agc
035306,000004: ## Purpose: A section of Sunburst revision 37, or Shepatin revision 0.
035307,000005: ## It is part of an early development version of the software
035308,000006: ## for Apollo Guidance Computer (AGC) on the unmanned Lunar
035309,000007: ## Module (LM) flight Apollo 5. Sunburst 37 was the program
035310,000008: ## upon which Don Eyles's offline development program Shepatin
035311,000009: ## was based; the listing herein transcribed was actually for
035312,000010: ## the equivalent revision 0 of Shepatin.
035313,000011: ## This file is intended to be a faithful transcription, except
035314,000012: ## that the code format has been changed to conform to the
035315,000013: ## requirements of the yaYUL assembler rather than the
035316,000014: ## original YUL assembler.
035317,000015: ## Reference: pp. 784-787
035318,000016: ## Assembler: yaYUL
035319,000017: ## Contact: Ron Burkey <info@sandroid.org>.
035320,000018: ## Website: www.ibiblio.org/apollo/index.html
035321,000019: ## Mod history: 2017-05-24 MAS Created from Sunburst 120.
035322,000020: ## 2017-06-14 HG Transcribed
035323,000021: ## 2017-06-23 RSB Proofed comment text with
035324,000022: ## octopus/ProoferComments.
035325,000023:
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Page 784 |
035327,000025: # THIS ROUTINE FINDCDUD COMPUTES DESIRED CDU,S WHICH CAN BE FED TO
035328,000026: # DAP LATER ON.
035329,000027:
035330,000028: # DESIRED CDU,S WILL BE IN 2,S COMP
035331,000029:
035332,000030: # INPUT
035333,000031:
035334,000032: # DESIRED THRUST VECTOR AXISD COMING FROM GUIDANCE EQUATIONS
035335,000033: # CDUX,CDUY,CDUZ INFORM OF A SP VECTOR CDUTEMP,+2,+4.
035336,000034: # DELV HALF UNIT VECTOR. PIPAS READING
035337,000035: # AXISD IS A HALF UNIT VECTOR
035338,000036: # CDUX,Y,Z ARE IN 2,S COMP
035339,000037:
035340,000038:
035341,000039: # THIS ROUTINE CAN BE ENTERED FROM INTERPRETIVE . CALL FINDCDUD
035342,000040:
035343,000041: # CALLING SEQUENCE
035344,000042: # L-1 CALL
035345,000043: # L FINDCDUD
035346,000044: # L+1 INTERPRETIVE RETURN
035347,000045:
035348,000046:
035349,000047:
035350,000048: # USER TO HAVE A UNIT VECTOR AXIS (1,0,0)
035351,000049:
035352,000050:
035353,000051:
035354,000052: 30,2637 BANK 30
035355,000053: 30,2637 E4,1452 EBANK= DELR
035356,000054: 30,2637 24276 14076 2/PI 2DEC .6366198
035357,000055:
035358,000056: 30,2641 00002 00545 LIMOMG 2DEC .0001234
035359,000057:
035360,000058:
035361,000059:
035362,000060: 30,2643 77401 FINDCDUD SETPD EXIT
035363,000061: 30,2644 00001 0
035364,000062: 30,2645 31344 CA CDUTEMP +2
035365,000063: 30,2646 55654 TS SINCDU # TEMPORARY LOCATION FOR CDUY
035366,000064: 30,2647 31346 CA CDUTEMP +4
035367,000065: 30,2650 55656 TS SINCDU +2 # TEMPORARY LOCATION FOR CDUZ
035368,000066: 30,2651 31342 CA CDUTEMP
035369,000067: 30,2652 55660 TS SINCDU +4 # TEMPORARY LOCATION FOR CDUX
035370,000068:
035371,000069:
035372,000070:
035373,000071: # AXISFILT COMPUTES AXIS AND CORRECTS IT FOR QUANTIZATION ERROR AND OTH
035374,000072: # ER ERRORS
035375,000073:
035376,000074:
035377,000075: 30,2653 E6,1423 EBANK= OMEGA
035378,000076: 30,2653 35650 CAF PRIO3 # OCT 03000 SWITCH EBANK
035379,000077:
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Page 785 |
035381,000079: 30,2654 56003 XCH EBANK
035382,000080: 30,2655 54144 TS MPAC
035383,000081: 30,2656 37761 CAF ZERO
035384,000082: 30,2657 55154 TS TEMX # SQOMEGA
035385,000083: 30,2660 55155 TS TEMX +1 # SQOMEGA +1
035386,000084: 30,2661 00004 INHINT
035387,000085: 30,2662 31416 CAE OMEGAP
035388,000086: 30,2663 00006 EXTEND
035389,000087:
035390,000088: 30,2664 70000 SQUARE
035391,000089: 30,2665 21155 DAS TEMX # SQOMEGA
035392,000090: 30,2666 31417 CAE OMEGAQ
035393,000091: 30,2667 00006 EXTEND
035394,000092: 30,2670 70000 SQUARE
035395,000093: 30,2671 21155 DAS TEMX # SQOMEGA
035396,000094: 30,2672 31421 CAE OMEGAR
035397,000095: 30,2673 00006 EXTEND
035398,000096: 30,2674 70000 SQUARE
035399,000097: 30,2675 21155 DAS TEMX # SQOMEGA
035400,000098:
035401,000099: 30,2676 00003 RELINT
035402,000100: 30,2677 56144 XCH MPAC
035403,000101: 30,2700 54003 TS EBANK
035404,000102: 30,2701 06103 TC INTPRET
035405,000103: 30,2702 E4,1452 EBANK= DELR
035406,000104: 30,2702 77620 STQ
035407,000105: 30,2703 00047 RETSAVE
035408,000106: 30,2704 45345 AXISFILT DLOAD DSU
035409,000107:
035410,000108:
035411,000109:
035412,000110: 30,2705 01155 TEMX # SQOMEGA
035413,000111:
035414,000112: 30,2706 20642 LIMOMG
035415,000113: 30,2707 72044 BPL LXA,1
035416,000114: 30,2710 60734 ROTANGLE
035417,000115: 30,2711 00110 FIXLOC
035418,000116: 30,2712 64110 INCR,1 XCHX,1
035419,000117: 30,2713 00024 20D
035420,000118: 30,2714 00050 S1
035421,000119: 30,2715 77775 VLOAD
035422,000120: 30,2716 02255 SINCDU # TEMPORARY LOCATION FOR CDUY,Z,X IN
035423,000121: 30,2717 00025 STORE 20D # SP 2,S COMP
035424,000122:
035425,000123: 30,2720 53575 VLOAD UNIT
035426,000124: 30,2721 00404 DELV
035427,000125: 30,2722 00041 STORE 32D
035428,000126: 30,2723 77624 CALL
035429,000127: 30,2724 32576 SMNB # TRANSFORM DELV FROM SM TO NB
035430,000128: 30,2725 52201 SETPD VSU
035431,000129: 30,2726 00001 0
035432,000130: 30,2727 02241 AXIS
035433,000131: 30,2730 53322 VSR3 VAD
035434,000132: 30,2731 02241 AXIS
035435,000133:
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Page 786 |
035437,000135: 30,2732 77656 UNIT
035438,000136:
035439,000137: 30,2733 02241 STORE AXIS
035440,000138: 30,2734 62150 ROTANGLE LXA,1 INCR,1
035441,000139: 30,2735 00110 FIXLOC
035442,000140: 30,2736 00024 20D
035443,000141: 30,2737 77320 XCHX,1 VLOAD
035444,000142: 30,2740 00050 S1
035445,000143: 30,2741 02255 SINCDU # TEMPORARY LOCATION FOR CDUY,Z,X IN
035446,000144: 30,2742 00025 STORE 20D # SP 2,S COMP
035447,000145: 30,2743 77775 VLOAD
035448,000146: 30,2744 02241 AXIS
035449,000147: 30,2745 00041 STORE 32D
035450,000148: 30,2746 77624 CALL # TRANSFORM AXIS FROM NB TO SM
035451,000149:
035452,000150: 30,2747 32622 NBSM
035453,000151: 30,2750 47201 SETPD VXV
035454,000152: 30,2751 00001 0
035455,000153: 30,2752 02233 AXISD
035456,000154: 30,2753 77761 VXSC
035457,000155: 30,2754 20640 2/PI
035458,000156: 30,2755 00013 STORE 10D # DTHETASM SCALETO ONE REVOLUTION
035459,000157: 30,2756 77624 CALL # COMPUTE SIN AND COS OF CDUS FOR
035460,000158: 30,2757 61024 SINCOSCD # LATER USE
035461,000159:
035462,000160:
035463,000161:
035464,000162: # SMCDURES COMPUTES CDU(GIMBAL) ANGLES FROM INCREMENTAL
035465,000163: # CHANGES ABOUT SM AXES. IT REQUIRES SM INCREMENTAL CHANGES
035466,000164: # AS DP VECTOR SCALED AT ONE REVOLUTION(DTHETASM,+2,+4). SIN,COS(CDUX,Y
035467,000165: # ,Z) ARE IN SINCDU,+2,+4 AND COSCDU,+2,+4 RESPECTIVELY,SCALED TO 2.
035468,000166: # CDU INCREMENTS ARE PLACED IN DCDU,+2,+4 SCALED TO ONE REVOLUTION
035469,000167:
035470,000168:
035471,000169:
035472,000170: 30,2760 41345 SMCDURES DLOAD DMP
035473,000171: 30,2761 00013 10D # DTHETASM
035474,000172: 30,2762 02251 COSCDU +2
035475,000173:
035476,000174: 30,2763 41325 PDDL DMP
035477,000175: 30,2764 00017 14D # DTHETASM +4
035478,000176: 30,2765 02257 SINCDU +2
035479,000177: 30,2766 77621 BDSU
035480,000178: 30,2767 77671 DDV
035481,000179: 30,2770 02253 COSCDU +4
035482,000180: 30,2771 00025 STORE 20D # DCDU
035483,000181: 30,2772 72405 DMP SL1 # SCALE
035484,000182: 30,2773 02261 SINCDU +4
035485,000183: 30,2774 77621 BDSU
035486,000184:
035487,000185: 30,2775 00015 12D # DTHETASM +2
035488,000186: 30,2776 14027 STODL 22D # DCDU +2
035489,000187: 30,2777 00013 10D # DTHETASM
035490,000188: 30,3000 65205 DMP PDDL
035491,000189: 30,3001 02257 SINCDU +2
035492,000190:
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Page 787 |
035494,000192: 30,3002 00017 14D # DTHETASM +4
035495,000193: 30,3003 43205 DMP DAD
035496,000194: 30,3004 02251 COSCDU +2
035497,000195: 30,3005 77752 SL1 # SCALE
035498,000196: 30,3006 14031 STODL 24D # DCDU +4
035499,000197: 30,3007 00027 22D # DCDU +2
035500,000198:
035501,000199: 30,3010 57405 DMP DCOMP
035502,000200: 30,3011 02261 SINCDU +4 # DCDUX =-DCDUY*SIN(CDUZ)
035503,000201: 30,3012 77752 SL1 # SCALE
035504,000202: 30,3013 00025 STORE 20D # DCDU
035505,000203: 30,3014 53375 VLOAD VAD
035506,000204: 30,3015 00025 20D # DCDU
035507,000205: 30,3016 01343 CDUTEMP
035508,000206: 30,3017 77634 RTB
035509,000207: 30,3020 33573 V1STO2S # SCALE FROM 1,S TO 2,S
035510,000208: 30,3021 00767 STORE CDUXD
035511,000209: 30,3022 77650 GOTO
035512,000210: 30,3023 00047 RETSAVE
035513,000211:
035514,000212:
035515,000213:
035516,000214: # SINCOSCD COMPUTES SIN AND COS OF CDU AND STORES AS DP VECTORS
035517,000215: # SINCDU ,COSCDU
035518,000216: # INPUT IS CDUS AS A VECTOR CDUTEMP
035519,000217: # OUTPUT IS SIN AND COS OF CDU,S
035520,000218: # CDUS ARE AVAILABLE IN 2,S COMP
035521,000219: # SIN AND COS ARE SCALED TO 2
035522,000220: # SINCOSCD CAN BE ENTERED FROM INTERPRETIVE
035523,000221:
035524,000222:
035525,000223:
035526,000224:
035527,000225: 30,3024 76131 SINCOSCD SSP AXT,1 # SET X1 TO 6
035528,000226: 30,3025 00051 S1 # SET S1 TO 2
035529,000227: 30,3026 00002 OCT 2
035530,000228: 30,3027 00006 OCT 6
035531,000229: 30,3030 47133 REPEAT1 SLOAD* RTB
035532,000230: 30,3031 01351 CDUTEMP +6,1
035533,000231: 30,3032 33524 CDULOGIC # CONVERT CDU FROM 2,S TO 1,S. SCALE
035534,000232: 30,3033 05351 STORE CDUTEMP +6,1 # TO ONE REVOLUTION
035535,000233: 30,3034 77756 SIN
035536,000234: 30,3035 06263 STORE SINCDU +6,1
035537,000235:
035538,000236: 30,3036 71543 DLOAD* COS
035539,000237: 30,3037 01351 CDUTEMP +6,1
035540,000238: 30,3040 06255 STORE COSCDU +6,1
035541,000239: 30,3041 43500 TIX,1 RVQ
035542,000240: 30,3042 61030 REPEAT1
End of include-file FIND_CDU_DESIRED.agc. Parent file is MAIN.agc