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. |
059708,000002: ## Copyright: Public domain.
059709,000003: ## Filename: SPS_BACK-UP_RCS_CONTROL.agc
059710,000004: ## Purpose: A section of a reconstructed, mixed version of Sundance
059711,000005: ## It is part of the reconstructed source code for the Lunar
059712,000006: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 9.
059713,000007: ## No original listings of this program are available;
059714,000008: ## instead, this file was created via disassembly of dumps
059715,000009: ## of various revisions of Sundance core rope modules.
059716,000010: ## Assembler: yaYUL
059717,000011: ## Contact: Ron Burkey <info@sandroid.org>.
059718,000012: ## Website: www.ibiblio.org/apollo/index.html
059719,000013: ## Mod history: 2020-06-17 MAS Created from Luminary 69.
059720,000014:
059721,000015: ## Sundance 302
059722,000016:
059723,000017: # PROGRAM NAME: SPSRCS
059724,000018:
059725,000019: # AUTHOR: EDGAR M. OSHIKA (AC ELECTRONICS)
059726,000020:
059727,000021: # MODIFIED: TO RETURN TO ALL AXES VIA Q BY P. S. WEISSMAN, OCT 7, 1968
059728,000022:
059729,000023: # FUNCTIONAL DESCRIPTION:
059730,000024:
059731,000025: # THIS PROGRAM CONTROLS THE FIRING OF ALL RCS JETS IN THE DOCKED CONFIGURATION ACCORDING TO THE FOLLOWING PHASE
059732,000026: # PLANE LOGIC.
059733,000027:
059734,000028: # 1. OUTER RATE LIMIT (SPSRCS)
059735,000029:
059736,000030: # IF MAGNITUDE OF EDOT IS GREATER THAN 1.73 DEG/SEC SET JET FIRING TIME, TJ, TO REDUCE RATE AND THEN RETURN TO
059737,000031: # CALLING PROGRAM (REQUESTING 4 JETS FOR P-AXIS).
059738,000032: # OTHERWISE, CONTINUE.
059739,000033:
059740,000034: # 2. RATE DEAD BAND TEST ( JTONTEST)
059741,000035:
059742,000036: # IF JETS ARE FIRING NEGATIVE AND RATE IS GREATER THAN -0.101 DEG/SEC, LEAVE JETS ON AND RETURN,
059743,000037: # IF JETS ARE FIRING POSITIVE AND RATE IS LESS THAN +0.101 DEG/SEC, LEAVE JETS ON AND RETURN, OTHERWISE CONTINUE.
059744,000038:
059745,000039: # 3. COASTING TEST (SPSSTART)
059746,000040:
059747,000041: # IF STATE (E,EDOT) IS BELOW LINE E + 4 X EDOT > -1.4 DEG AND EDOT IS LESS THAN 1.30 DEG/SEC SET JET TIME POSI-
059748,000042: # TIVE AND RETURN,
059749,000043: # IF STATE IS ABOVE LINE E + 4 X EDOT > +1.4 DEG AND EDOT IS GREATER THAN -1.30 DEG/SEC, SET JET TIME NEGATIVE
059750,000044: # AND RETURN,
059751,000045: # OTHERWISE, SET JET TIME ZERO AND RETURN.
059752,000046:
059753,000047: # THE MINIMUM PULSE WIDTH OF THIS CONTROLLER IS DETERMINED BY THE REPETITION RATE AT WHICH THIS ROUTINE IS CALLED
059754,000048: # AND IS NOMINALLY 100 MS FOR ALL AXES IN DRIFTING FLIGHT. DURING POWERED FLIGHT THE MINIMUM IS 100 MS FOR THE
059755,000049: # P AXIS AND 200 MS FOR THE CONTROL OF THE U AND V AXES.
059756,000050:
059757,000051: # CALLING SEQUENCE:
059758,000052:
059759,000053: # TC SPSRCS FROM Q,R AXES RCS AUTOPILOT
059760,000054: # INHINT FROM P-AXIS RCS AUTOPILOT
059761,000055: # TC IBNKCALL
059762,000056: # CADR SPSRCS
059763,000057:
059764,000058:
059765,000059: # EXIT:
059766,000060:
059767,000061: # TC Q
059768,000062: # ALARM/ABORT MODE: NONE
059769,000063:
059770,000064: # SUBROUTINES CALLED: NONE
059771,000065:
059772,000066: # INPUT: E, EDOT
059773,000067:
059774,000068: # TJP, TJV, TJU TJ MUST NOT BE NEGATIVE ZERO
059775,000069:
059776,000070: # OUTPUT: TJP, TJV, TJU
059777,000071: # NUMBERT = 6, WHEN RATE LIMITING P AXIS.
059778,000072:
059779,000073:
059780,000074: 17,3526 BANK 17
059781,000075: 17,2000 SETLOC DAPS2
059782,000076: 17,2000 BANK
059783,000077:
059784,000078: 17,3526 COUNT* $$/DAPBU
059785,000079:
059786,000080: 17,3526 E6,1517 EBANK= TJU
059787,000081: 17,3526 31543 SPSRCS CA EDOT
059788,000082: 17,3527 00006 EXTEND
059789,000083: 17,3530 75036 MP RATELIM1 # OUTER RATE LIMIT = 1.73 DEG/SEC
059790,000084: 17,3531 00006 EXTEND
059791,000085: 17,3532 13563 BZF JTONTEST
059792,000086:
059793,000087: 17,3533 54001 TS L
059794,000088: 17,3534 36216 CA SIX
059795,000089: 17,3535 55740 TS NUMBERT
059796,000090: 17,3536 10001 CCS L
059797,000091: 17,3537 13617 TCF NEGTHRST
059798,000092: 17,3540 05723 TC CCSHOLE # **TEMP ** FILL WITH A CONSTANT
059799,000093: 17,3541 17,3512 RATELIM2 = .1AT4 # = OCT 00632, 1.125 DEG/SEC
059800,000094: 17,3541 35011 POSTHRST CA HALF
059801,000095:
059802,000096: 17,3542 51471 NDX AXISCTR
059803,000097: 17,3543 55517 TS TJU
059804,000098: 17,3544 11471 CCS AXISCTR
059805,000099: 17,3545 13550 TCF +3
059806,000100: 17,3546 13550 TCF +2
059807,000101: 17,3547 00002 TC Q
059808,000102:
059809,000103: 17,3550 30101 CA FLAGWRD5
059810,000104: 17,3551 75012 MASK SNUFFBIT
059811,000105: 17,3552 00006 EXTEND
059812,000106: 17,3553 12522 BZF AFTERTJ -2
059813,000107: 17,3554 31102 CA DAPBOOLS
059814,000108: 17,3555 75017 MASK DRIFTBIT
059815,000109: 17,3556 10000 CCS A
059816,000110: 17,3557 12522 TCF AFTERTJ -2
059817,000111:
059818,000112: 17,3560 51471 NDX AXISCTR
059819,000113: 17,3561 55517 TS TJU
059820,000114: 17,3562 12522 TCF AFTERTJ -2
059821,000115:
059822,000116: 17,3563 51471 JTONTEST NDX AXISCTR
059823,000117: 17,3564 11517 CCS TJU
059824,000118: 17,3565 13571 TCF +4
059825,000119: 17,3566 13603 TCF SPSSTART
059826,000120: 17,3567 31543 CA EDOT
059827,000121: 17,3570 13572 TCF +2
059828,000122:
059829,000123: 17,3571 41543 +4 CS EDOT
059830,000124: 17,3572 22000 LXCH A
059831,000125: 17,3573 41102 CS DAPBOOLS # IF DRIFTBIT = 1, USE ZERO TARGET RATE
059832,000126: 17,3574 75017 MASK DRIFTBIT # IF DRIFTBIT = 0, USE 0.10 RATE TARGET
059833,000127: 17,3575 10000 CCS A
059834,000128: 17,3576 35037 CA RATEDB1
059835,000129: 17,3577 60001 AD L
059836,000130: 17,3600 00006 EXTEND
059837,000131: 17,3601 63603 BZMF +2
059838,000132: 17,3602 13544 TCF POSTHRST +3
059839,000133:
059840,000134: 17,3603 31543 SPSSTART CA EDOT
059841,000135: 17,3604 61542 AD E
059842,000136: 17,3605 00006 EXTEND
059843,000137: 17,3606 71411 MP DKDB # PAD LOADED DEADBAND. FRESHSTART: 1.4 DEG
059844,000138: 17,3607 00006 EXTEND
059845,000139: 17,3610 13625 BZF TJZERO
059846,000140:
059847,000141: 17,3611 00006 EXTEND
059848,000142: 17,3612 63621 BZMF +7
059849,000143: 17,3613 31543 CA EDOT
059850,000144: 17,3614 63512 AD RATELIM2
059851,000145: 17,3615 00006 EXTEND
059852,000146: 17,3616 63625 BZMF TJZERO
059853,000147: 17,3617 45011 NEGTHRST CS HALF
059854,000148: 17,3620 13542 TCF POSTHRST +1
059855,000149: 17,3621 43512 +7 CS RATELIM2
059856,000150: 17,3622 61543 AD EDOT
059857,000151: 17,3623 00006 EXTEND
059858,000152: 17,3624 63541 BZMF POSTHRST
059859,000153: 17,3625 35030 TJZERO CA ZERO
059860,000154: 17,3626 13542 TCF POSTHRST +1
059861,000155:
059862,000156:
059863,000157: 17,3627 5036 RATELIM1 = CALLCODE # = 00032, CORRESPONDING TO 1.73 DEG/SEC
059864,000158: 17,3627 5037 RATEDB1 = TBUILDFX # = 00045, CORRESPONDS TO 0.101 DEG/SEC
End of include-file SPS_BACK-UP_RCS_CONTROL.agc. Parent file is MAIN.agc