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. |
012228,000002: ## Copyright: Public domain.
012229,000003: ## Filename: R63.agc
012230,000004: ## Purpose: A section of a reconstructed, mixed version of Sundance
012231,000005: ## It is part of the reconstructed source code for the Lunar
012232,000006: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 9.
012233,000007: ## No original listings of this program are available;
012234,000008: ## instead, this file was created via disassembly of dumps
012235,000009: ## of various revisions of Sundance core rope modules.
012236,000010: ## Assembler: yaYUL
012237,000011: ## Contact: Ron Burkey <info@sandroid.org>.
012238,000012: ## Website: www.ibiblio.org/apollo/index.html
012239,000013: ## Mod history: 2020-06-17 MAS Created from Luminary 69.
012240,000014:
012241,000015: ## Sundance 302
012242,000016:
012243,000017: # SUBROUTINE NAME: V89CALL
012244,000018: # MOD NO: 0 DATE: 9 JAN 1968
012245,000019: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION: R63
012246,000020:
012247,000021: # FUNCTIONAL DESCRIPTION:
012248,000022:
012249,000023: # CALLED BY VERB 89 ENTER DURING P00. PRIO 10 USED. CALCULATES AND
012250,000024: # DISPLAYS FINAL FDAI BALL ANGLES TO POINT LM +X OR +Z AXIS AT CSM.
012251,000025:
012252,000026: # 1. KEY IN V 89 E ONLY IF IN PROG 00. IF NOT IN P00, OPERATOR ERROR AND
012253,000027: # EXIT R63, OTHERWISE CONTINUE.
012254,000028:
012255,000029: # 2. IF IN P00, DO IMU STATUS CHECK ROUTINE (R02BOTH). IF IMU ON AND ITS
012256,000030: # ORIENTATION KNOWN TO LGC, CONTINUE.
012257,000031:
012258,000032: # 3. FLASH DISPLAY V 04 N 06. R2 INDICATES WHICH SPACECRAFT AXIS IS TO
012259,000033: # BE POINTED AT CSM. INITIAL CHOICE IS PREFERRED (+Z) AXIS (R2=1).
012260,000034: # ASTRONAUT CAN CHANGE TO (+X) AXIS (R2 NOT =1) BY V 22 E 2 E. CONTINUE
012261,000035: # AFTER KEYING IN PROCEED.
012262,000036:
012263,000037: # 4. BOTH VEHICLE STATE VECTORS UPDATED BY CONIC EQS.
012264,000038:
012265,000039: # 5. HALF MAGNITUDE UNIT LOS VECTOR (IN STABLE MEMBER COORDINATES) AND
012266,000040: # HALF MAGNITUDE UNIT SPACECRAFT AXIS VECTOR (IN BODY COORDINATES)
012267,000041: # PREPARED FOR VECPOINT.
012268,000042:
012269,000043: # 6. GIMBAL ANGLES FROM VECPOINT TRANSFORMED INTO FDAI BALL ANGLES BY
012270,000044: # BALLANGS. FLASH DISPLAY V 06 N 18 AND AWAIT RESPONSE.
012271,000045:
012272,000046: # 7. RECYCLE - RETURN TO STEP 4.
012273,000047: # TERMINATE - EXIT R63.
012274,000048: # PROCEED - RESET 3AXISFLG AND CALL R60LEM FOR ATTITUDE MANEUVER.
012275,000049:
012276,000050: # CALLING SEQUENCE: V 89 E.
012277,000051:
012278,000052: # SUBROUTINES CALLED: CHKPOOH, R02BOTH, GOXDSPF, CSMCONIC, LEMCONIC,
012279,000053: # VECPOINT, BALLANGS, R60LEM.
012280,000054:
012281,000055: # NORMAL EXIT MODES: TC ENDEXT
012282,000056:
012283,000057: # ALARMS: 1. OPERATOR ERROR IF NOT IN P00.
012284,000058: # 2. PROGRAM ALARM IF IMU IS OFF.
012285,000059: # 3. PROGRAM ALARM IF IMU ORIENTATION IS UNKNOWN.
012286,000060:
012287,000061: # OUTPUT: NONE
012288,000062:
012289,000063: # ERASABLE INITIALIZATION REQUIRED: NONE
012290,000064:
012291,000065: # DEBRIS: OPTION1, +1, TDEC1, POINTVSM, SCAXIS, CPHI, CTHETA, CPSI,
012292,000066: # 3AXISFLG.
012293,000067:
012294,000068: 06,3712 E4,1614 EBANK= RONE
012295,000069: 32,2000 BANK 32
012296,000070: 26,2000 SETLOC BAWLANGS
012297,000071: 26,2000 BANK
012298,000072:
012299,000073: 26,2000 COUNT* $$/R63
012300,000074: 26,2000 04655 V89CALL TC BANKCALL # IMU STATUS CHECK. RETURNS IF ORIENTATION
012301,000075: 26,2001 11064 CADR R02BOTH # KNOWN. ALARMS IF NOT.
012302,000076: 26,2002 36221 CAF THREE # ALLOW ASTRONAUT TO SELECT DESIRED
012303,000077: 26,2003 55155 TS OPTION1 # TRACKING ATTITUDE AXIS.
012304,000078: 26,2004 35026 CAF ONE
012305,000079: 26,2005 55156 TS OPTION1 +1
012306,000080: 26,2006 32101 CAF VB04N06* # V 04 N 06
012307,000081: 26,2007 04655 TC BANKCALL
012308,000082: 26,2010 20406 CADR GOFLASH
012309,000083: 26,2011 05561 TC ENDEXT # TERMINATE
012310,000084: 26,2012 02014 TC +2 # PROCEED
012311,000085: 26,2013 02006 TC -5 # DATA IN. OPTION1+1 = 1 FOR Z AXIS
012312,000086: 26,2014 06014 V89RECL TC INTPRET # = 2 FOR X AXIS
012313,000087: 26,2015 77634 RTB
012314,000088: 26,2016 21454 LOADTIME # READ PRESENT TIME
012315,000089: 26,2017 02213 STORE TSTART82 # SAVE TIME FOR LEMCONIC CALL
012316,000090: 26,2020 34041 STCALL TDEC1 # STORE TIME FOR CSMCONIC CALL
012317,000091: 26,2021 27037 CSMCONIC # CSM STATE VECTOR UPDATE
012318,000092: 26,2022 77775 VLOAD # CSMCONIC LEFT R VECTOR IN RATT
012319,000093: 26,2023 00001 RATT
012320,000094: 26,2024 16215 STODL RONE # SAVE FOR LINE OF SIGHT (LOS) COMPUTATION
012321,000095: 26,2025 02213 TSTART82
012322,000096: 26,2026 34041 STCALL TDEC1 # STORE TIME FOR LEMCONIC CALL
012323,000097: 26,2027 27051 LEMCONIC # LEM STATE VECTOR UPDATE
012324,000098: 26,2030 52375 VLOAD VSU # CSM POSITION - LEM POSITION = LOS
012325,000099: 26,2031 02215 RONE # LOS VECTOR LEFT IN MPAC
012326,000100: 26,2032 00001 RATT
012327,000101: 26,2033 40121 MXV BOV # (REFSMMAT X LOS). TRANSFORMS LOS FROM
012328,000102: 26,2034 01736 REFSMMAT # REFERENCE COORD TO STAB MEMB COORD.
012329,000103: 26,2035 54036 +1
012330,000104: 26,2036 02223 STORE VONE
012331,000105: 26,2037 40012 VSL8 BOV
012332,000106: 26,2040 54042 +2
012333,000107: 26,2041 02223 STORE VONE
012334,000108: 26,2042 53575 VLOAD UNIT
012335,000109: 26,2043 02223 VONE
012336,000110: 26,2044 01256 STORE POINTVSM # STORE LOS FOR VECPOINT CALL
012337,000111: 26,2045 77776 EXIT
012338,000112: 26,2046 41156 CS OPTION2 # 1 FOR Z AXIS. 2 FOR X AXIS.
012339,000113: 26,2047 65026 AD ONE
012340,000114: 26,2050 00006 EXTEND
012341,000115: 26,2051 12075 BZF ALINEZ
012342,000116: 26,2052 06014 ALINEX TC INTPRET # X AXIS ALIGNMENT
012343,000117: 26,2053 77775 VLOAD
012344,000118: 26,2054 06231 UNITX # READ (.5, 0, 0)
012345,000119: 26,2055 35250 V89CALL1 STCALL SCAXIS # STORE SELECTED ALIGNMENT AXIS
012346,000120: 26,2056 56000 VECPOINT # PUTS DESIRED GIM ANG (OG,IG,MG) IN TMPAC
012347,000121: 26,2057 01207 STORE CPHI # STORE GIMBAL ANGLES FOR BALLANGS CALL.
012348,000122: 26,2060 77776 EXIT
012349,000123: 26,2061 02302 TC BALLANGS # PUTS DESIRED BALL ANGLES IN FDAIX,Y,Z
012350,000124: 26,2062 32102 CAF VB06N18 # V 06 N 18
012351,000125: 26,2063 04655 TC BANKCALL # NOUN 18 REFERS TO FDAIX,Y,Z
012352,000126: 26,2064 20406 CADR GOFLASH
012353,000127: 26,2065 05561 TC ENDEXT # TERMINATE
012354,000128: 26,2066 02070 TC +2 # PROCEED
012355,000129: 26,2067 02014 TC V89RECL # RECYCLE
012356,000130: 26,2070 05575 TC DOWNFLAG # RESET 3 AXIS FLAG
012357,000131: 26,2071 00124 ADRES 3AXISFLG # RESET BIT6 FLAG WORD 5
012358,000132: 26,2072 04655 TC BANKCALL # PERFORMS LEM MANEUVER TO ALIGN SELECTED
012359,000133: 26,2073 54103 CADR R60LEM # SPACECRAFT AXIS TO CSM.
012360,000134: 26,2074 15561 TCF ENDEXT # TERMINATE R63
012361,000135:
012362,000136: 26,2075 06014 ALINEZ TC INTPRET # Z AXIS ALIGNMENT
012363,000137: 26,2076 52175 VLOAD GOTO
012364,000138: 26,2077 06225 UNITZ # READ (0, 0, .5)
012365,000139: 26,2100 54055 V89CALL1
012366,000140:
012367,000141: 26,2101 01006 VB04N06* VN 406
012368,000142: 26,2102 01422 VB06N18 VN 0618
012369,000143:
End of include-file R63.agc. Parent file is MAIN.agc