- B1 — Revision 292
- B2 — Revision 302
- B3 — Revision 302
- B4 — Revision 302
- B5 — Revision 292
- B6 — Revision 306
Source Code
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These source code files are an attempted reconstruction of Sundance revision 306, the Apollo 9
LM (Lunar Module) AGC (Apollo Guidance Computer) flight software, created from binary dumps of
original core rope program modules, as follows:
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048803,000002: ## Copyright: Public domain.
048804,000003: ## Filename: INFLIGHT_ALIGNMENT_ROUTINES.agc
048805,000004: ## Purpose: A section of an attempt to reconstruct Sundance revision 306
048806,000005: ## as closely as possible with available information. Sundance
048807,000006: ## 306 is the source code for the Lunar Module's (LM) Apollo
048808,000007: ## Guidance Computer (AGC) for Apollo 9. This program was created
048809,000008: ## using the mixed-revision SundanceXXX as a starting point, and
048810,000009: ## pulling back features from Luminary 69 believed to have been
048811,000010: ## added based on memos, checklists, observed address changes,
048812,000011: ## or the Sundance GSOPs.
048813,000012: ## Assembler: yaYUL
048814,000013: ## Contact: Ron Burkey <info@sandroid.org>.
048815,000014: ## Website: www.ibiblio.org/apollo/index.html
048816,000015: ## Mod history: 2020-07-24 MAS Created from SundanceXXX.
048817,000016:
048818,000017:
048819,000018:
048820,000019: 22,3644 BANK 22
048821,000020: 23,2000 SETLOC INFLIGHT
048822,000021: 23,2000 BANK
048823,000022:
048824,000023: 23,3043 E5,1642 EBANK= XSM
048825,000024:
048826,000025: # CALCGTA COMPUTES THE GYRO TORQUE ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
048827,000026:
048828,000027: # THE INPUT IS THE DESIRED STABLE MEMBER COORDINATES REFERRED TO PRESENT STABLE MEMBER COORDINATES. THE THREE
048829,000028: # HALF-UNIT VECTORS ARE STORED AT XDC, YDC, AND ZDC.
048830,000029:
048831,000030: # THE OUTPUTS ARE THE THREE GYRO TORQUING ANGLES TO BE APPLIED TO THE Y, Z, AND X GYROS AND ARE STORED DP AT IGC,
048832,000031: # MGC, AND OGC RESPECTIVELY.
048833,000032:
048834,000033: 23,3043 COUNT* $$/INFLT
048835,000034: 23,3043 71220 CALCGTA ITA DLOAD # PUSHDOWN 00-03,16D-27D,34D-37D
048836,000035: 23,3044 00051 S2 # XDC = (XD1 XD2 XD3)
048837,000036: 23,3045 02665 XDC # YDC = (YD1 YD2 YD3)
048838,000037: 23,3046 65325 PDDL PDDL # ZDC = (ZD1 ZD2 ZD3)
048839,000038: 23,3047 06233 HI6ZEROS
048840,000039: 23,3050 02671 XDC +4
048841,000040: 23,3051 55476 DCOMP VDEF
048842,000041: 23,3052 77656 UNIT
048843,000042: 23,3053 14027 STODL ZPRIME # ZP = UNIT(-XD3 0 XD1) = (ZP1 ZP2 ZP3)
048844,000043: 23,3054 00027 ZPRIME
048845,000044:
048846,000045: 23,3055 77742 SR1
048847,000046: 23,3056 14023 STODL SINTH # SIN(IGC) = ZP1
048848,000047: 23,3057 00033 ZPRIME +4
048849,000048: 23,3060 77742 SR1
048850,000049: 23,3061 34021 STCALL COSTH # COS(IGC) = ZP3
048851,000050: 23,3062 47114 ARCTRIG
048852,000051:
048853,000052: 23,3063 16742 STODL IGC # Y GYRO TORQUING ANGLE FRACTION OF REV.
048854,000053: 23,3064 02667 XDC +2
048855,000054: 23,3065 77742 SR1
048856,000055: 23,3066 14023 STODL SINTH # SIN(MGC) = XD2
048857,000056: 23,3067 00027 ZPRIME
048858,000057:
048859,000058: 23,3070 65205 DMP PDDL
048860,000059: 23,3071 02671 XDC +4 # PD00 = (ZP1)(XD3)
048861,000060: 23,3072 00033 ZPRIME +4
048862,000061:
048863,000062: 23,3073 45205 DMP DSU
048864,000063: 23,3074 02665 XDC # MPAC = (ZP3)(XD1)
048865,000064: 23,3075 77626 STADR
048866,000065: 23,3076 43756 STCALL COSTH # COS(MGC) = MPAC - PD00
048867,000066: 23,3077 47114 ARCTRIG
048868,000067: 23,3100 26744 STOVL MGC # Z GYRO TORQUING ANGLE FRACTION OF REV.
048869,000068: 23,3101 00027 ZPRIME
048870,000069: 23,3102 77641 DOT
048871,000070: 23,3103 02701 ZDC
048872,000071: 23,3104 24021 STOVL COSTH # COS(OGC) = ZP . ZDC
048873,000072: 23,3105 00027 ZPRIME
048874,000073: 23,3106 77641 DOT
048875,000074: 23,3107 02673 YDC
048876,000075: 23,3110 34023 STCALL SINTH # SIN(OGC) = ZP . YDC
048877,000076: 23,3111 47114 ARCTRIG
048878,000077:
048879,000078: 23,3112 36740 STCALL OGC # X GYRO TORQUING ANGLE FRACTION OF REV.
048880,000079: 23,3113 00051 S2
048881,000080:
048882,000081: # ARCTRIG COMPUTES AN ANGLE GIVEN THE SINE AND COSINE OF THIS ANGLE.
048883,000082:
048884,000083: # THE INPUTS ARE SIN/4 AND COS/4 STORED DP AT SINTH AND COSTH.
048885,000084:
048886,000085: # THE OUTPUT IS THE CALCULATED ANGLE BETWEEN +.5 AND -.5 REVOLUTIONS AND STORED AT THETA. THE OUTPUT IS ALSO
048887,000086: # AVAILABLE AT MPAC.
048888,000087:
048889,000088: 23,3114 51545 ARCTRIG DLOAD ABS # PUSHDOWN 16D-21D
048890,000089: 23,3115 00023 SINTH
048891,000090: 23,3116 50025 DSU BMN
048892,000091: 23,3117 07332 QTSN45 # ABS(SIN/4) - SIN(45)/4
048893,000092: 23,3120 47127 TRIG1 # IF (-45,45) OR (135,-135)
048894,000093:
048895,000094: 23,3121 72545 DLOAD SL1 # (45,135) OR (-135,-45)
048896,000095: 23,3122 00021 COSTH
048897,000096: 23,3123 75326 ACOS SIGN
048898,000097: 23,3124 00023 SINTH
048899,000098: 23,3125 00025 STORE THETA # X = ARCCOS(COS) WITH SIGN(SIN)
048900,000099: 23,3126 77616 RVQ
048901,000100:
048902,000101: 23,3127 72545 TRIG1 DLOAD SL1 # (-45,45) OR (135,-135)
048903,000102: 23,3130 00023 SINTH
048904,000103: 23,3131 77736 ASIN
048905,000104: 23,3132 14025 STODL THETA # X = ARCSIN(SIN) WITH SIGN(SIN)
048906,000105: 23,3133 00021 COSTH
048907,000106: 23,3134 77640 BMN
048908,000107: 23,3135 47140 TRIG2 # IF (135,-135)
048909,000108:
048910,000109: 23,3136 43545 DLOAD RVQ
048911,000110: 23,3137 00025 THETA # X = ARCSIN(SIN) (-45,45)
048912,000111:
048913,000112: 23,3140 75345 TRIG2 DLOAD SIGN # (135,-135)
048914,000113: 23,3141 06231 HIDPHALF
048915,000114: 23,3142 00023 SINTH
048916,000115: 23,3143 77625 DSU
048917,000116: 23,3144 00025 THETA
048918,000117: 23,3145 00025 STORE THETA # X = .5 WITH SIGN(SIN) - ARCSIN(SIN)
048919,000118: 23,3146 77616 RVQ # (+) - (+) OR (-) - (-)
048920,000119:
048921,000120: # SMNB, NBSM, AND AXISROT, WHICH USED TO APPEAR HERE, HAVE BEEN
048922,000121: # COMBINED IN A ROUTINE CALLED AX*SR*T, WHICH APPEARS AMONG THE POWERED
048923,000122: # FLIGHT SUBROUTINES.
048924,000123:
048925,000124: # CALCGA COMPUTES THE CDU DRIVING ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
048926,000125:
048927,000126: # THE INPUTS ARE 1) THE NAVIGATION BASE COORDINATES REFERRED TO ANY COORDINATE SYSTEM. THE THREE HALF-UNIT
048928,000127: # VECTORS ARE STORED AT XNB, YNB, AND ZNB. 2) THE DESIRED STABLE MEMBER COORDINATES REFERRED TO THE SAME
048929,000128: # COORDINATE SYSTEM ARE STORED AT XSM, YSM, AND ZSM.
048930,000129:
048931,000130: # THE OUTPUTS ARE THE THREE CDU DRIVING ANGLES AND ARE STORED SP AT THETAD, THETAD +1, AND THETAD +2.
048932,000131:
048933,000132: 23,3147 77601 CALCGA SETPD # PUSHDOWN 00-05, 16D-21D, 34D-37D
048934,000133: 23,3150 00001 0
048935,000134: 23,3151 47375 VLOAD VXV
048936,000135: 23,3152 02665 XNB # XNB = OGA (OUTER GIMBAL AXIS)
048937,000136: 23,3153 02651 YSM # YSM = IGA (INNER GIMBAL AXIS)
048938,000137: 23,3154 41456 UNIT PUSH # PD0 = UNIT(OGA X IGA) = MGA
048939,000138:
048940,000139: 23,3155 44041 DOT ITA
048941,000140: 23,3156 02701 ZNB
048942,000141: 23,3157 00051 S2
048943,000142: 23,3160 24021 STOVL COSTH # COS(OG) = MGA . ZNB
048944,000143: 23,3161 00001 0
048945,000144: 23,3162 77641 DOT
048946,000145: 23,3163 02673 YNB
048947,000146: 23,3164 34023 STCALL SINTH # SIN(OG) = MGA . YNB
048948,000147: 23,3165 47114 ARCTRIG
048949,000148: 23,3166 26740 STOVL OGC
048950,000149: 23,3167 00001 0
048951,000150:
048952,000151: 23,3170 50235 VXV DOT # PROVISION FOR MG ANGLE OF 90 DEGREES
048953,000152: 23,3171 02665 XNB
048954,000153: 23,3172 02651 YSM
048955,000154: 23,3173 77752 SL1
048956,000155: 23,3174 24021 STOVL COSTH # COS(MG) = IGA . (MGA X OGA)
048957,000156: 23,3175 02651 YSM
048958,000157: 23,3176 77641 DOT
048959,000158: 23,3177 02665 XNB
048960,000159: 23,3200 34023 STCALL SINTH # SIN(MG) = IGA . OGA
048961,000160: 23,3201 47114 ARCTRIG
048962,000161: 23,3202 02744 STORE MGC
048963,000162:
048964,000163: 23,3203 45246 ABS DSU
048965,000164: 23,3204 07334 .166...
048966,000165: 23,3205 77644 BPL
048967,000166: 23,3206 47227 GIMLOCK1 # IF ANGLE GREATER THAN 60 DEGREES
048968,000167:
048969,000168: 23,3207 50375 CALCGA1 VLOAD DOT
048970,000169: 23,3210 02657 ZSM
048971,000170: 23,3211 00001 0
048972,000171: 23,3212 24021 STOVL COSTH # COS(IG) = ZSM . MGA
048973,000172: 23,3213 02643 XSM
048974,000173: 23,3214 45441 DOT STADR
048975,000174: 23,3215 43754 STCALL SINTH # SIN(IG) = XSM . MGA
048976,000175: 23,3216 47114 ARCTRIG
048977,000176:
048978,000177: 23,3217 26742 STOVL IGC
048979,000178: 23,3220 02740 OGC
048980,000179: 23,3221 43034 RTB BONCLR
048981,000180: 23,3222 21516 V1STO2S
048982,000181: 23,3223 00200 CPHIFLAG
048983,000182: 23,3224 00051 S2
048984,000183: 23,3225 35207 STCALL THETAD
048985,000184: 23,3226 00051 S2
048986,000185:
048987,000186: 23,3227 77776 GIMLOCK1 EXIT
048988,000187: 23,3230 05651 TC ALARM
048989,000188: 23,3231 00401 OCT 00401
048990,000189: 23,3232 05566 TC UPFLAG # GIMBAL LOCK HAS OCCURED
048991,000190: 23,3233 00056 ADRES GLOKFAIL
048992,000191:
048993,000192: 23,3234 06014 TC INTPRET
048994,000193: 23,3235 77650 GOTO
048995,000194: 23,3236 47207 CALCGA1
048996,000195:
048997,000196: # AXISGEN COMPUTES THE COORDINATES OF ONE COORDINATE SYSTEM REFERRED TO ANOTHER COORDINATE SYSTEM.
048998,000197:
048999,000198: # THE INPUTS ARE 1) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM A STORED AT STARAD. 2) THE STAR2 VECTOR
049000,000199: # REFERRED TO COORDINATE SYSTEM A STORED AT STARAD +6. 3) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM B STORED
049001,000200: # AT LOCATION 6 OF THE VAC AREA. 4) THE STAR2 VECTOR REFERRED TO COORDINATE SYSTEM B STORED AT LOCATION 12D OF
049002,000201: # THE VAC AREA.
049003,000202:
049004,000203: # THE OUTPUT DEFINES COORDINATE SYSTEM A REFERRED TO COORDINATE SYSTEM B. THE THREE HALF-UNIT VECTORS ARE STORED
049005,000204: # AT LOCATIONS XDC, XDC +6, XDC +12D, AND STARAD, STARAD +6, STARAD +12D.
049006,000205:
049007,000206: 23,3237 66370 AXISGEN AXT,1 SSP # PUSHDOWN 00-30D,34D-37D
049008,000207: 23,3240 02714 STARAD +6
049009,000208: 23,3241 00051 S1
049010,000209: 23,3242 02700 STARAD -6
049011,000210:
049012,000211: 23,3243 77601 SETPD
049013,000212: 23,3244 00001 0
049014,000213: 23,3245 46773 AXISGEN1 VLOAD* VXV* # 06D UA = S1
049015,000214: 23,3246 02723 STARAD +12D,1 # STARAD +00D UB = S1
049016,000215: 23,3247 02731 STARAD +18D,1
049017,000216: 23,3250 77656 UNIT # 12D VA = UNIT(S1 X S2)
049018,000217: 23,3251 06731 STORE STARAD +18D,1 # STARAD +06D VB = UNIT(S1 X S2)
049019,000218: 23,3252 77773 VLOAD*
049020,000219: 23,3253 02723 STARAD +12D,1
049021,000220:
049022,000221: 23,3254 76433 VXV* VSL1
049023,000222: 23,3255 02731 STARAD +18D,1 # 18D WA = UA X VA
049024,000223: 23,3256 06737 STORE STARAD +24D,1 # STARAD +12D WB = UB X VB
049025,000224:
049026,000225: 23,3257 77700 TIX,1
049027,000226: 23,3260 47245 AXISGEN1
049028,000227:
049029,000228: 23,3261 66160 AXC,1 SXA,1
049030,000229: 23,3262 00006 6
049031,000230: 23,3263 00036 30D
049032,000231:
049033,000232: 23,3264 66370 AXT,1 SSP
049034,000233: 23,3265 00022 18D
049035,000234: 23,3266 00051 S1
049036,000235: 23,3267 00006 6
049037,000236:
049038,000237: 23,3270 66374 AXT,2 SSP
049039,000238: 23,3271 00006 6
049040,000239: 23,3272 00052 S2
049041,000240: 23,3273 00002 2
049042,000241:
049043,000242: 23,3274 76720 AXISGEN2 XCHX,1 VLOAD*
049044,000243: 23,3275 00036 30D # X1=-6 X2=+6 X1=-6 X2=+4 X1=-6 X2=+2
049045,000244: 23,3276 00001 0,1
049046,000245:
049047,000246: 23,3277 62757 VXSC* PDVL* # J=(UA)(UB1) J=(UA)(UB2) J=(UA)(UB3)
049048,000247: 23,3300 75062 STARAD +6,2
049049,000248: 23,3301 00007 6,1
049050,000249: 23,3302 77757 VXSC*
049051,000250: 23,3303 75054 STARAD +12D,2
049052,000251: 23,3304 30031 STOVL* 24D # K=(VA)(VB1) J=(VA)(VB2) J=(VA)(VB3)
049053,000252: 23,3305 00015 12D,1
049054,000253:
049055,000254: 23,3306 53357 VXSC* VAD
049056,000255: 23,3307 75046 STARAD +18D,2 # L=(WA)(WB1) J=(WA)(WB2) J=(WA)(WB3)
049057,000256: 23,3310 76455 VAD VSL1
049058,000257: 23,3311 00031 24D
049059,000258: 23,3312 53520 XCHX,1 UNIT
049060,000259: 23,3313 00036 30D
049061,000260: 23,3314 06707 STORE XDC +18D,1 # XDC = L+J+K YDC = L+J+K ZDC = L+J+K
049062,000261:
049063,000262: 23,3315 77700 TIX,1
049064,000263: 23,3316 47317 AXISGEN3
049065,000264:
049066,000265: 23,3317 77704 AXISGEN3 TIX,2
049067,000266: 23,3320 47274 AXISGEN2
049068,000267:
049069,000268: 23,3321 77775 VLOAD
049070,000269: 23,3322 02665 XDC
049071,000270: 23,3323 26707 STOVL STARAD
049072,000271: 23,3324 02673 YDC
049073,000272: 23,3325 26715 STOVL STARAD +6
049074,000273: 23,3326 02701 ZDC
049075,000274: 23,3327 02723 STORE STARAD +12D
049076,000275:
049077,000276: 23,3330 77616 RVQ
049078,000277:
049079,000278: 23,3331 05520 26075 QTSN45 2DEC .1768
049080,000279:
049081,000280: 23,3333 05252 25253 .166... 2DEC .1666666667
049082,000281:
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049084,000283:
End of include-file INFLIGHT_ALIGNMENT_ROUTINES.agc. Parent file is MAIN.agc