Source Code
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These source code files are a reconstruction of Sundance, the Apollo 9 LM (Lunar Module) AGC
(Apollo Guidance Computer) flight software, created from binary dumps of original core rope
program modules, as follows:
Since only binary dumps (rather than listings) of Sundance are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing. |
048586,000002: ## Copyright: Public domain.
048587,000003: ## Filename: INFLIGHT_ALIGNMENT_ROUTINES.agc
048588,000004: ## Purpose: A section of a reconstructed, mixed version of Sundance
048589,000005: ## It is part of the reconstructed source code for the Lunar
048590,000006: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 9.
048591,000007: ## No original listings of this program are available;
048592,000008: ## instead, this file was created via disassembly of dumps
048593,000009: ## of various revisions of Sundance core rope modules.
048594,000010: ## Assembler: yaYUL
048595,000011: ## Contact: Ron Burkey <info@sandroid.org>.
048596,000012: ## Website: www.ibiblio.org/apollo/index.html
048597,000013: ## Mod history: 2020-06-17 MAS Created from Luminary 69.
048598,000014:
048599,000015: ## Sundance 302
048600,000016:
048601,000017: 22,3644 BANK 22
048602,000018: 23,2000 SETLOC INFLIGHT
048603,000019: 23,2000 BANK
048604,000020:
048605,000021: 23,2757 E5,1642 EBANK= XSM
048606,000022:
048607,000023: # CALCGTA COMPUTES THE GYRO TORQUE ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
048608,000024:
048609,000025: # THE INPUT IS THE DESIRED STABLE MEMBER COORDINATES REFERRED TO PRESENT STABLE MEMBER COORDINATES. THE THREE
048610,000026: # HALF-UNIT VECTORS ARE STORED AT XDC, YDC, AND ZDC.
048611,000027:
048612,000028: # THE OUTPUTS ARE THE THREE GYRO TORQUING ANGLES TO BE APPLIED TO THE Y, Z, AND X GYROS AND ARE STORED DP AT IGC,
048613,000029: # MGC, AND OGC RESPECTIVELY.
048614,000030:
048615,000031: 23,2757 COUNT* $$/INFLT
048616,000032: 23,2757 71220 CALCGTA ITA DLOAD # PUSHDOWN 00-03,16D-27D,34D-37D
048617,000033: 23,2760 00051 S2 # XDC = (XD1 XD2 XD3)
048618,000034: 23,2761 02665 XDC # YDC = (YD1 YD2 YD3)
048619,000035: 23,2762 65325 PDDL PDDL # ZDC = (ZD1 ZD2 ZD3)
048620,000036: 23,2763 06233 HI6ZEROS
048621,000037: 23,2764 02671 XDC +4
048622,000038: 23,2765 55476 DCOMP VDEF
048623,000039: 23,2766 77656 UNIT
048624,000040: 23,2767 14027 STODL ZPRIME # ZP = UNIT(-XD3 0 XD1) = (ZP1 ZP2 ZP3)
048625,000041: 23,2770 00027 ZPRIME
048626,000042:
048627,000043: 23,2771 77742 SR1
048628,000044: 23,2772 14023 STODL SINTH # SIN(IGC) = ZP1
048629,000045: 23,2773 00033 ZPRIME +4
048630,000046: 23,2774 77742 SR1
048631,000047: 23,2775 34021 STCALL COSTH # COS(IGC) = ZP3
048632,000048: 23,2776 47030 ARCTRIG
048633,000049:
048634,000050: 23,2777 16742 STODL IGC # Y GYRO TORQUING ANGLE FRACTION OF REV.
048635,000051: 23,3000 02667 XDC +2
048636,000052: 23,3001 77742 SR1
048637,000053: 23,3002 14023 STODL SINTH # SIN(MGC) = XD2
048638,000054: 23,3003 00027 ZPRIME
048639,000055:
048640,000056: 23,3004 65205 DMP PDDL
048641,000057: 23,3005 02671 XDC +4 # PD00 = (ZP1)(XD3)
048642,000058: 23,3006 00033 ZPRIME +4
048643,000059:
048644,000060: 23,3007 45205 DMP DSU
048645,000061: 23,3010 02665 XDC # MPAC = (ZP3)(XD1)
048646,000062: 23,3011 77626 STADR
048647,000063: 23,3012 43756 STCALL COSTH # COS(MGC) = MPAC - PD00
048648,000064: 23,3013 47030 ARCTRIG
048649,000065: 23,3014 26744 STOVL MGC # Z GYRO TORQUING ANGLE FRACTION OF REV.
048650,000066: 23,3015 00027 ZPRIME
048651,000067: 23,3016 77641 DOT
048652,000068: 23,3017 02701 ZDC
048653,000069: 23,3020 24021 STOVL COSTH # COS(OGC) = ZP . ZDC
048654,000070: 23,3021 00027 ZPRIME
048655,000071: 23,3022 77641 DOT
048656,000072: 23,3023 02673 YDC
048657,000073: 23,3024 34023 STCALL SINTH # SIN(OGC) = ZP . YDC
048658,000074: 23,3025 47030 ARCTRIG
048659,000075:
048660,000076: 23,3026 36740 STCALL OGC # X GYRO TORQUING ANGLE FRACTION OF REV.
048661,000077: 23,3027 00051 S2
048662,000078:
048663,000079: # ARCTRIG COMPUTES AN ANGLE GIVEN THE SINE AND COSINE OF THIS ANGLE.
048664,000080:
048665,000081: # THE INPUTS ARE SIN/4 AND COS/4 STORED DP AT SINTH AND COSTH.
048666,000082:
048667,000083: # THE OUTPUT IS THE CALCULATED ANGLE BETWEEN +.5 AND -.5 REVOLUTIONS AND STORED AT THETA. THE OUTPUT IS ALSO
048668,000084: # AVAILABLE AT MPAC.
048669,000085:
048670,000086: 23,3030 51545 ARCTRIG DLOAD ABS # PUSHDOWN 16D-21D
048671,000087: 23,3031 00023 SINTH
048672,000088: 23,3032 50025 DSU BMN
048673,000089: 23,3033 07246 QTSN45 # ABS(SIN/4) - SIN(45)/4
048674,000090: 23,3034 47043 TRIG1 # IF (-45,45) OR (135,-135)
048675,000091:
048676,000092: 23,3035 72545 DLOAD SL1 # (45,135) OR (-135,-45)
048677,000093: 23,3036 00021 COSTH
048678,000094: 23,3037 75326 ACOS SIGN
048679,000095: 23,3040 00023 SINTH
048680,000096: 23,3041 00025 STORE THETA # X = ARCCOS(COS) WITH SIGN(SIN)
048681,000097: 23,3042 77616 RVQ
048682,000098:
048683,000099: 23,3043 72545 TRIG1 DLOAD SL1 # (-45,45) OR (135,-135)
048684,000100: 23,3044 00023 SINTH
048685,000101: 23,3045 77736 ASIN
048686,000102: 23,3046 14025 STODL THETA # X = ARCSIN(SIN) WITH SIGN(SIN)
048687,000103: 23,3047 00021 COSTH
048688,000104: 23,3050 77640 BMN
048689,000105: 23,3051 47054 TRIG2 # IF (135,-135)
048690,000106:
048691,000107: 23,3052 43545 DLOAD RVQ
048692,000108: 23,3053 00025 THETA # X = ARCSIN(SIN) (-45,45)
048693,000109:
048694,000110: 23,3054 75345 TRIG2 DLOAD SIGN # (135,-135)
048695,000111: 23,3055 06231 HIDPHALF
048696,000112: 23,3056 00023 SINTH
048697,000113: 23,3057 77625 DSU
048698,000114: 23,3060 00025 THETA
048699,000115: 23,3061 00025 STORE THETA # X = .5 WITH SIGN(SIN) - ARCSIN(SIN)
048700,000116: 23,3062 77616 RVQ # (+) - (+) OR (-) - (-)
048701,000117:
048702,000118: # SMNB, NBSM, AND AXISROT, WHICH USED TO APPEAR HERE, HAVE BEEN
048703,000119: # COMBINED IN A ROUTINE CALLED AX*SR*T, WHICH APPEARS AMONG THE POWERED
048704,000120: # FLIGHT SUBROUTINES.
048705,000121:
048706,000122: # CALCGA COMPUTES THE CDU DRIVING ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
048707,000123:
048708,000124: # THE INPUTS ARE 1) THE NAVIGATION BASE COORDINATES REFERRED TO ANY COORDINATE SYSTEM. THE THREE HALF-UNIT
048709,000125: # VECTORS ARE STORED AT XNB, YNB, AND ZNB. 2) THE DESIRED STABLE MEMBER COORDINATES REFERRED TO THE SAME
048710,000126: # COORDINATE SYSTEM ARE STORED AT XSM, YSM, AND ZSM.
048711,000127:
048712,000128: # THE OUTPUTS ARE THE THREE CDU DRIVING ANGLES AND ARE STORED SP AT THETAD, THETAD +1, AND THETAD +2.
048713,000129:
048714,000130: 23,3063 77601 CALCGA SETPD # PUSHDOWN 00-05, 16D-21D, 34D-37D
048715,000131: 23,3064 00001 0
048716,000132: 23,3065 47375 VLOAD VXV
048717,000133: 23,3066 02665 XNB # XNB = OGA (OUTER GIMBAL AXIS)
048718,000134: 23,3067 02651 YSM # YSM = IGA (INNER GIMBAL AXIS)
048719,000135: 23,3070 41456 UNIT PUSH # PD0 = UNIT(OGA X IGA) = MGA
048720,000136:
048721,000137: 23,3071 44041 DOT ITA
048722,000138: 23,3072 02701 ZNB
048723,000139: 23,3073 00051 S2
048724,000140: 23,3074 24021 STOVL COSTH # COS(OG) = MGA . ZNB
048725,000141: 23,3075 00001 0
048726,000142: 23,3076 77641 DOT
048727,000143: 23,3077 02673 YNB
048728,000144: 23,3100 34023 STCALL SINTH # SIN(OG) = MGA . YNB
048729,000145: 23,3101 47030 ARCTRIG
048730,000146: 23,3102 26740 STOVL OGC
048731,000147: 23,3103 00001 0
048732,000148:
048733,000149: 23,3104 50235 VXV DOT # PROVISION FOR MG ANGLE OF 90 DEGREES
048734,000150: 23,3105 02665 XNB
048735,000151: 23,3106 02651 YSM
048736,000152: 23,3107 77752 SL1
048737,000153: 23,3110 24021 STOVL COSTH # COS(MG) = IGA . (MGA X OGA)
048738,000154: 23,3111 02651 YSM
048739,000155: 23,3112 77641 DOT
048740,000156: 23,3113 02665 XNB
048741,000157: 23,3114 34023 STCALL SINTH # SIN(MG) = IGA . OGA
048742,000158: 23,3115 47030 ARCTRIG
048743,000159: 23,3116 02744 STORE MGC
048744,000160:
048745,000161: 23,3117 45246 ABS DSU
048746,000162: 23,3120 07250 .166...
048747,000163: 23,3121 77644 BPL
048748,000164: 23,3122 47143 GIMLOCK1 # IF ANGLE GREATER THAN 60 DEGREES
048749,000165:
048750,000166: 23,3123 50375 CALCGA1 VLOAD DOT
048751,000167: 23,3124 02657 ZSM
048752,000168: 23,3125 00001 0
048753,000169: 23,3126 24021 STOVL COSTH # COS(IG) = ZSM . MGA
048754,000170: 23,3127 02643 XSM
048755,000171: 23,3130 45441 DOT STADR
048756,000172: 23,3131 43754 STCALL SINTH # SIN(IG) = XSM . MGA
048757,000173: 23,3132 47030 ARCTRIG
048758,000174:
048759,000175: 23,3133 26742 STOVL IGC
048760,000176: 23,3134 02740 OGC
048761,000177: 23,3135 43034 RTB BONCLR
048762,000178: 23,3136 21516 V1STO2S
048763,000179: 23,3137 00200 CPHIFLAG
048764,000180: 23,3140 00051 S2
048765,000181: 23,3141 35207 STCALL THETAD
048766,000182: 23,3142 00051 S2
048767,000183:
048768,000184: 23,3143 77776 GIMLOCK1 EXIT
048769,000185: 23,3144 05646 TC ALARM
048770,000186: 23,3145 00401 OCT 00401
048771,000187: 23,3146 05563 TC UPFLAG # GIMBAL LOCK HAS OCCURED
048772,000188: 23,3147 00056 ADRES GLOKFAIL
048773,000189:
048774,000190: 23,3150 06014 TC INTPRET
048775,000191: 23,3151 77650 GOTO
048776,000192: 23,3152 47123 CALCGA1
048777,000193:
048778,000194: # AXISGEN COMPUTES THE COORDINATES OF ONE COORDINATE SYSTEM REFERRED TO ANOTHER COORDINATE SYSTEM.
048779,000195:
048780,000196: # THE INPUTS ARE 1) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM A STORED AT STARAD. 2) THE STAR2 VECTOR
048781,000197: # REFERRED TO COORDINATE SYSTEM A STORED AT STARAD +6. 3) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM B STORED
048782,000198: # AT LOCATION 6 OF THE VAC AREA. 4) THE STAR2 VECTOR REFERRED TO COORDINATE SYSTEM B STORED AT LOCATION 12D OF
048783,000199: # THE VAC AREA.
048784,000200:
048785,000201: # THE OUTPUT DEFINES COORDINATE SYSTEM A REFERRED TO COORDINATE SYSTEM B. THE THREE HALF-UNIT VECTORS ARE STORED
048786,000202: # AT LOCATIONS XDC, XDC +6, XDC +12D, AND STARAD, STARAD +6, STARAD +12D.
048787,000203:
048788,000204: 23,3153 66370 AXISGEN AXT,1 SSP # PUSHDOWN 00-30D,34D-37D
048789,000205: 23,3154 02714 STARAD +6
048790,000206: 23,3155 00051 S1
048791,000207: 23,3156 02700 STARAD -6
048792,000208:
048793,000209: 23,3157 77601 SETPD
048794,000210: 23,3160 00001 0
048795,000211: 23,3161 46773 AXISGEN1 VLOAD* VXV* # 06D UA = S1
048796,000212: 23,3162 02723 STARAD +12D,1 # STARAD +00D UB = S1
048797,000213: 23,3163 02731 STARAD +18D,1
048798,000214: 23,3164 77656 UNIT # 12D VA = UNIT(S1 X S2)
048799,000215: 23,3165 06731 STORE STARAD +18D,1 # STARAD +06D VB = UNIT(S1 X S2)
048800,000216: 23,3166 77773 VLOAD*
048801,000217: 23,3167 02723 STARAD +12D,1
048802,000218:
048803,000219: 23,3170 76433 VXV* VSL1
048804,000220: 23,3171 02731 STARAD +18D,1 # 18D WA = UA X VA
048805,000221: 23,3172 06737 STORE STARAD +24D,1 # STARAD +12D WB = UB X VB
048806,000222:
048807,000223: 23,3173 77700 TIX,1
048808,000224: 23,3174 47161 AXISGEN1
048809,000225:
048810,000226: 23,3175 66160 AXC,1 SXA,1
048811,000227: 23,3176 00006 6
048812,000228: 23,3177 00036 30D
048813,000229:
048814,000230: 23,3200 66370 AXT,1 SSP
048815,000231: 23,3201 00022 18D
048816,000232: 23,3202 00051 S1
048817,000233: 23,3203 00006 6
048818,000234:
048819,000235: 23,3204 66374 AXT,2 SSP
048820,000236: 23,3205 00006 6
048821,000237: 23,3206 00052 S2
048822,000238: 23,3207 00002 2
048823,000239:
048824,000240: 23,3210 76720 AXISGEN2 XCHX,1 VLOAD*
048825,000241: 23,3211 00036 30D # X1=-6 X2=+6 X1=-6 X2=+4 X1=-6 X2=+2
048826,000242: 23,3212 00001 0,1
048827,000243:
048828,000244: 23,3213 62757 VXSC* PDVL* # J=(UA)(UB1) J=(UA)(UB2) J=(UA)(UB3)
048829,000245: 23,3214 75062 STARAD +6,2
048830,000246: 23,3215 00007 6,1
048831,000247: 23,3216 77757 VXSC*
048832,000248: 23,3217 75054 STARAD +12D,2
048833,000249: 23,3220 30031 STOVL* 24D # K=(VA)(VB1) J=(VA)(VB2) J=(VA)(VB3)
048834,000250: 23,3221 00015 12D,1
048835,000251:
048836,000252: 23,3222 53357 VXSC* VAD
048837,000253: 23,3223 75046 STARAD +18D,2 # L=(WA)(WB1) J=(WA)(WB2) J=(WA)(WB3)
048838,000254: 23,3224 76455 VAD VSL1
048839,000255: 23,3225 00031 24D
048840,000256: 23,3226 53520 XCHX,1 UNIT
048841,000257: 23,3227 00036 30D
048842,000258: 23,3230 06707 STORE XDC +18D,1 # XDC = L+J+K YDC = L+J+K ZDC = L+J+K
048843,000259:
048844,000260: 23,3231 77700 TIX,1
048845,000261: 23,3232 47233 AXISGEN3
048846,000262:
048847,000263: 23,3233 77704 AXISGEN3 TIX,2
048848,000264: 23,3234 47210 AXISGEN2
048849,000265:
048850,000266: 23,3235 77775 VLOAD
048851,000267: 23,3236 02665 XDC
048852,000268: 23,3237 26707 STOVL STARAD
048853,000269: 23,3240 02673 YDC
048854,000270: 23,3241 26715 STOVL STARAD +6
048855,000271: 23,3242 02701 ZDC
048856,000272: 23,3243 02723 STORE STARAD +12D
048857,000273:
048858,000274: 23,3244 77616 RVQ
048859,000275:
048860,000276: 23,3245 05520 26075 QTSN45 2DEC .1768
048861,000277:
048862,000278: 23,3247 05252 25253 .166... 2DEC .1666666667
048863,000279:
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048865,000281:
End of include-file INFLIGHT_ALIGNMENT_ROUTINES.agc. Parent file is MAIN.agc