Source Code
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These source-code files were obtained by digitally photographing
an Artemis 72 program listing from a private collection and then
modifying pre-existing Comanche 55 (Apollo 11) source files to
incorporate changes. Note that the page images
presented online are of reduced quality, and that additional images
may be available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 072 OF AGC PROGRAM ARTEMIS BY NASA 2021114-011 11:40 FEB. 26, 1971 THIS AGC PROGRAM SHALL ALSO BE REFERRED TO AS COLOSSUS 3 THIS PROGRAM IS INTENDED FOR USE IN THE CM AS SPECIFIED IN REPORT R-577. THIS PROGRAM WAS PREPARED UNDER OSR PROJECT 55-23890, SPONSORED BY THE MANNED SPACECRAFT CENTER OF THE NATIONAL AERONAUTICS AND SPACE ADMINISTRATION THROUGH CONTRACT NAS 9-4065 WITH THE CHARLES STARK DRAPER LABORATORY, MASSACHUSETTS INSTITUTE OF TECHNOLOGY, CAMBRIDGE, MASS. |
039072,000002: # Copyright: Public domain.
039073,000003: # Filename: CM_BODY_ATTITUDE.agc
039074,000004: # Purpose: Part of the source code for Artemis (i.e., Colossus 3),
039075,000005: # build 072. This is for the Command Module's (CM)
039076,000006: # Apollo Guidance Computer (AGC), we believe for
039077,000007: # Apollo 15-17.
039078,000008: # Assembler: yaYUL
039079,000009: # Contact: Steve Case <case.steve@gmail.com>
039080,000010: # Website: www.ibiblio.org/apollo/index.html
039081,000011: # Page scans: www.ibiblio.org/apollo/ScansForConversion/Artemis072/
039082,000012: # Mod history: 2009-08-20 SMC Adapted from Comanche055 files.
039083,000013: # 2009-09-14 JL Fix typos. Fix page numbers. Remove change comments.
039084,000014: # Remove RELINT. Restore hard tabs.
039085,000015: # 2010-02-20 RSB Un-##'d this header.
039086,000016:
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Page 890 |
039088,000018: 37,2000 SETLOC BODYATT
039089,000019: 37,2000 BANK
039090,000020:
039091,000021: 37,3404 COUNT* $$/CMBAT
039092,000022: # PDL 12D - 15D SAFE.
039093,000023:
039094,000024: # VALUES OF GIMBAL AND BODY ANGLES VALID AT PIP TIME ARE SAVED DURING READACCS.
039095,000025:
039096,000026: 37,3404 E7,1451 EBANK= RTINIT # LET INTERPRETER SET EB
039097,000027:
039098,000028: 37,3404 06006 CM/POSE TC INTPRET # COME HERE VIA AVEGEXIT.
039099,000029:
039100,000030: 37,3405 77201 SETPD VLOAD
039101,000031: 37,3406 00001 0
039102,000032: 37,3407 01036 VN # KVSCALE = (12800/ .3048) /2VS
039103,000033: 37,3410 63361 VXSC PDVL
039104,000034: 37,3411 37700 -KVSCALE # KVSCALE = .81491944
039105,000035: 37,3412 01712 UNITW # FULL UNIT VECTOR
039106,000036: 37,3413 74235 VXV VXSC # VREL = V - WE*R
039107,000037: 37,3414 01756 UNITR
039108,000038: 37,3415 15246 KWE
039109,000039: 37,3416 45455 VAD STADR
039110,000040: 37,3417 74251 STORE -VREL # SAVE FOR ENTRY GUIDANCE. REF COORDS
039111,000041:
039112,000042: 37,3420 72056 UNIT LXA,1
039113,000043: 37,3421 00044 36D # ABVAL( -VREL) TO X1
039114,000044: 37,3422 03542 STORE UXA/2 # -UVREL REF COORDS
039115,000045:
039116,000046: 37,3423 57435 VXV VCOMP
039117,000047: 37,3424 01756 UNITR # .5 UNIT REF COORDS
039118,000048: 37,3425 66256 UNIT SSP # THE FOLLOWING IS TO PROVIDE A STABLE
039119,000049: 37,3426 00051 S1 # UN FOR THE END OF THE TERMINAL PHASE.
039120,000050: 37,3427 00476 SPVQUIT DEC .019405 # 1000/ 2 VS
039121,000051: 37,3430 77300 TIX,1 VLOAD # IF V-VQUIT POS, BRANCH.
039122,000052: 37,3431 77433 CM/POSE2 # SAVE UYA IN OLDUYA
039123,000053: 37,3432 03534 OLDUYA # OTHERWISE CONTINUE TO USE OLDUYA.
039124,000054: 37,3433 03550 CM/POSE2 STORE UYA/2 # REF COORDS
039125,000055:
039126,000056: 37,3434 03534 STORE OLDUYA # RESTORE, OR SAVE AS CASE MAY BE.
039127,000057:
039128,000058: 37,3435 57435 VXV VCOMP
039129,000059: 37,3436 03542 UXA/2 # FINISH OBTAINING TRAJECTORY TRIAD.
039130,000060: 37,3437 77772 VSL1
039131,000061: 37,3440 03556 STORE UZA/2 # REF COORDS
039132,000062:
039133,000063: 37,3441 77751 TLOAD # PICK UP CDUX, CDUY, CDUZ CORRESPONDING
039134,000064: 37,3442 03270 AOG/PIP # TO PIPUP TIME IN 2S,C AND SAVE.
039135,000065: 37,3443 14031 CM/TRIO STODL 24D
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Page 891 |
039137,000067: 37,3444 00032 25D # AIG/PIP
039138,000068:
039139,000069: 37,3445 41434 RTB PUSH # TO PDL0
039140,000070: 37,3446 51754 CDULOGIC
039141,000071: 37,3447 77746 COS
039142,000072: 37,3450 17564 STODL UBX/2 # CI /2
039143,000073: # AIG/PIP FROM PDL 0
039144,000074: 37,3451 57556 SIN DCOMP
039145,000075: 37,3452 17570 STODL UBX/2 +4 # -SI /2
039146,000076: 37,3453 00033 26D # AMG/PIP
039147,000077: 37,3454 41434 RTB PUSH # TO PDL 0
039148,000078: 37,3455 51754 CDULOGIC
039149,000079: 37,3456 65356 SIN PDDL # XCH PDL 0. SAVE SM /2
039150,000080: 37,3457 65346 COS PDDL # CM /2 TO PDL 2
039151,000081: 37,3460 00001 0 # SM /2
039152,000082: 37,3461 74276 DCOMP VXSC
039153,000083: 37,3462 03564 UBX/2
039154,000084: 37,3463 77772 VSL1 # NOISE WONT OVFL.
039155,000085: 37,3464 17572 STODL UBY/2 # =(-SMCI, NOISE, SMSI)/2
039156,000086: 37,3465 00003 2 # CM /2 REPLACES NOISE
039157,000087: 37,3466 17574 STODL UBY/2 +2 # UBY/2=(-SMCI, CM, SMSI)/2
039158,000088: 37,3467 00031 24D # AOG/PIP
039159,000089: 37,3470 41434 RTB PUSH # TO PDL 4
039160,000090: 37,3471 51754 CDULOGIC
039161,000091: 37,3472 65356 SIN PDDL # XCH PDL 4. SAVE SO /2
039162,000092: 37,3473 74346 COS VXSC # CO /2
039163,000093: 37,3474 03572 UBY/2
039164,000094: 37,3475 17572 STODL UBY/2 # UBY/2=(-COSMCI, COCM, COSMSI)/4
039165,000095: 37,3476 00005 4D # SO /2
039166,000096: 37,3477 57405 DMP DCOMP
039167,000097: 37,3500 03570 UBX/2 +4 # -SI /2
039168,000098: 37,3501 77615 DAD
039169,000099: 37,3502 03572 UBY/2 # INCREMENT BY (SOSI /4)
039170,000100: 37,3503 17572 STODL UBY/2
039171,000101: # SO /2 FROM PDL 4
039172,000102: 37,3504 43205 DMP DAD
039173,000103: 37,3505 03564 UBX/2 # CI /2
039174,000104: 37,3506 03576 UBY/2 +4
039175,000105: 37,3507 27576 STOVL UBY/2 +4 # YB/4 PLATFORM COORDS
039176,000106:
039177,000107: # YB = (-COSMCI + SOSI , COCM , COSMSI + SOCI )
039178,000108:
039179,000109: 37,3510 03572 UBY/2
039180,000110: 37,3511 72505 VXM VSL2
039181,000111: 37,3512 01734 REFSMMAT # .5 UNIT
039182,000112: 37,3513 17572 STODL UBY/2 # YB/2 DONE REF COORDS
039183,000113:
039184,000114: # CM /2 FROM PDL 2
039185,000115: 37,3514 76561 VXSC VSL1
039186,000116: 37,3515 03564 UBX/2
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Page 892 |
039188,000118: 37,3516 17564 STODL UBX/2 # =( CMCI, NOISE, -CMSI)/2
039189,000119: 37,3517 77626 STADR # SM /2 FROM PDL 0
039190,000120: 37,3520 50211 STOVL UBX/2 +2 # SM /2 REPLACES NOISE
039191,000121: 37,3521 03564 UBX/2 # XB/2 PLATFORM COORDS
039192,000122:
039193,000123: # XB = ( CMCI , SM , -CMSI )
039194,000124:
039195,000125: 37,3522 76505 VXM VSL1
039196,000126: 37,3523 01734 REFSMMAT # .5 UNIT
039197,000127: 37,3524 03564 STORE UBX/2 # XB/2 DONE REF COORDS
039198,000128:
039199,000129: 37,3525 76435 VXV VSL1
039200,000130: 37,3526 03572 UBY/2
039201,000131: 37,3527 27600 STOVL UBZ/2 # ZB/2 DONE REF COORDS
039202,000132:
039203,000133: # EQUIVALENT TO
039204,000134: # ZB = ( SOSMCI + COSI , -SOCM , -SOSMSI + COCI)
039205,000135:
039206,000136: 37,3530 03542 UXA/2 # -UVREL/2 = -UVA/2
039207,000137: 37,3531 53435 VXV UNIT # GET UNIT(-UVREL*UBY)/2 = UL/2
039208,000138: 37,3532 03572 UBY/2 # YB/2
039209,000139: 37,3533 50206 PUSH DOT # UL/2 TO PDL 0,5
039210,000140: 37,3534 03556 UZA/2 # UNA/2
039211,000141: 37,3535 24021 STOVL COSTH # COS(ROLL)/4
039212,000142: 37,3536 00001 0 # UL/2
039213,000143:
039214,000144: 37,3537 77641 DOT
039215,000145: 37,3540 03550 UYA/2
039216,000146: 37,3541 34023 STCALL SINTH # -SIN(ROLL)/4
039217,000147: 37,3542 47311 ARCTRIG
039218,000148: 37,3543 24007 STOVL 6D # -(ROLL/180) /2
039219,000149: 37,3544 03572 UBY/2
039220,000150: 37,3545 72441 DOT SL1 # -UVA.UBY = -SIN(BETA)
039221,000151: 37,3546 03542 UXA/2 # -UVREL/2
039222,000152: 37,3547 77736 ARCSIN
039223,000153: 37,3550 24010 STOVL 7D # -(BETA/180) /2
039224,000154: 37,3551 03564 UBX/2 # XB/2
039225,000155: 37,3552 77641 DOT # UL.UBX = -SIN(ALFA)
039226,000156: 37,3553 00001 0 # UL/2
039227,000157: 37,3554 24023 STOVL SINTH # -SIN(ALFA)/4
039228,000158: 37,3555 77641 DOT # UL/2 FROM PDL 0
039229,000159: 37,3556 03600 UBZ/2
039230,000160: 37,3557 34021 STCALL COSTH # COS(ALFA)/2
039231,000161: 37,3560 47311 ARCTRIG
039232,000162: 37,3561 24011 STOVL 8D # -(ALFA/180) /2
039233,000163: 37,3562 01756 UNITR # UR/2 REF COORDS
039234,000164: 37,3563 72441 DOT SL1
039235,000165: 37,3564 03556 UZA/2 # MORE ACCURATE AT LARGE ARG.
039236,000166: 37,3565 77726 ARCCOS
039237,000167: 37,3566 00013 STORE 10D # (-GAMA/180)/2
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Page 893 |
039239,000169: 37,3567 77551 TLOAD EXIT # ANGLES IN MPAC IN THE ORDER
039240,000170: # -( (ROLL, BETA, ALFA) /180)/2
039241,000171: 37,3570 00007 6D # THESE VALUES CORRECT AT PIPUP TIME.
039242,000172:
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Page 894 |
039244,000174:
039245,000175: # BASIC SUBROUTINE TO UPDATE ATTITUDE ANGLES
039246,000176:
039247,000177: 37,3571 E6,1661 EBANK= AOG
039248,000178:
039249,000179: 37,3571 04611 CM/ATUP TC E6SETTER
039250,000180:
039251,000181: 37,3572 50120 CMTR1 INDEX FIXLOC
039252,000182: 37,3573 40012 CS 10D # (GAMA/180)/2
039253,000183: 37,3574 57722 XCH GAMA
039254,000184: 37,3575 54001 TS L
039255,000185:
039256,000186: 37,3576 00004 INHINT
039257,000187: # MUST REMAIN INHINTED UNTIL UPDATE OF BODY
039258,000188: # ANGLES, SO THAT GAMDIFSW IS VALID FIRST PASS
039259,000189: # INDICATOR.
039260,000190:
039261,000191: 37,3577 40102 CS CM/FLAGS
039262,000192: 37,3600 74756 MASK GMDIFBIT # GAMDIFSW = 94D BIT11 INITLY=0
039263,000193: 37,3601 00006 EXTEND # DONT CALC GAMA DOT UNTIL HAVE FORMD
039264,000194: # ONE DIFFERENCE.
039265,000195: 37,3602 13605 BZF DOGAMDOT # IS OK, GO ON.
039266,000196: 37,3603 26102 ADS CM/FLAGS # KNOW BIT IS 0
039267,000197: 37,3604 03620 TC NOGAMDOT # SET GAMDOT = 0
039268,000198:
039269,000199: 37,3605 40001 DOGAMDOT CS L
039270,000200: 37,3606 61722 AD GAMA # DEL GAMA/360= T GAMDOT/360
039271,000201: 37,3607 00006 EXTEND
039272,000202: 37,3610 73701 MP TCDU # TCDU = .1 SEC, T = 2 SEC.
039273,000203: 37,3611 55723 TS GAMDOT # GAMA DOT TCDU / 180
039274,000204:
039275,000205: 37,3612 00006 EXTEND # IGNORE GAMDOT IF LEQ .5 DEG/SEC
039276,000206: 37,3613 63615 BZMF +2
039277,000207: 37,3614 40000 COM
039278,000208: 37,3615 64773 AD FIVE
039279,000209: 37,3616 00006 EXTEND
039280,000210: 37,3617 63622 BZMF +3 # SET GAMDOT=+0 AS TAG IF TOO SMALL.
039281,000211:
039282,000212: 37,3620 34772 NOGAMDOT CA ZERO # COME HERE INHINTED.
039283,000213: 37,3621 55723 TS GAMDOT
039284,000214: # FOR NOW LEAVE IN 2S,C
039285,000215: # UPDATE ANGLES BY CORRECTING EULER ANG
039286,000216: # FOR ACCRUED INCREMENT SINCE PIPUP
039287,000217: # R = R EUIL + R(NOW) -R(PIPUP)
039288,000218: 37,3622 40154 CS MPAC # GET (R EUL/180) /2
039289,000219: 37,3623 60000 DOUBLE # POSSIBLE OVERFLOW
039290,000220: 37,3624 03671 TC CORANGOV # CORRECT FOR OVFL IF ANY
039291,000221: 37,3625 00006 EXTEND
039292,000222: 37,3626 61672 SU ROLL/PIP # GET INCR SINCE PIPUP
039293,000223: 37,3627 61664 AD ROLL/180 # ONLY SINGLE OVFL POSSIBLE.
039294,000224: 37,3630 03671 TC CORANGOV # CORRECT FOR OVFL IF ANY
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Page 895 |
039296,000226: 37,3631 55770 TS TEMPROLL
039297,000227:
039298,000228: 37,3632 40156 CS MPAC +2 # GET (ALFA EUL/180) /2
039299,000229: 37,3633 60000 DOUBLE # SAME AS FOR ROLL. NEEDED FOR EXT ATM DAP
039300,000230: 37,3634 03671 TC CORANGOV # CORRECT FOR OVFL IF ANY
039301,000231: 37,3635 00006 EXTEND
039302,000232: 37,3636 61673 SU ALFA/PIP
039303,000233: 37,3637 61665 AD ALFA/180
039304,000234: 37,3640 03671 TC CORANGOV # CORRECT FOR OVFL IF ANY
039305,000235: 37,3641 55771 TS TEMPALFA
039306,000236:
039307,000237: 37,3642 40155 CS MPAC +1 # GET (BETA EUL/180) /2
039308,000238: 37,3643 60000 CMTR2 DOUBLE
039309,000239: 37,3644 00006 EXTEND
039310,000240: 37,3645 61674 SU BETA/PIP
039311,000241: 37,3646 61666 AD BETA/180
039312,000242: 37,3647 57772 XCH TEMPBETA # OVFL NOT EXPECTED.
039313,000243:
039314,000244: 37,3650 35024 CA EBANK3
039315,000245: 37,3651 54003 TS EBANK
039316,000246:
039317,000247: 37,3652 E3,1446 EBANK= PHSNAME5
039318,000248: 37,3652 00006 EXTEND
039319,000249: 37,3653 33703 DCA REPOSADR # THIS ASSUMES THAT THE TC PHASCHNG
039320,000250: 37,3654 53447 DXCH PHSNAME5 # IS NOT CHANGED IN OCT 10035
039321,000251: # SERVICER.
039322,000252:
039323,000253: 37,3655 04611 TC E6SETTER
039324,000254:
039325,000255: 37,3656 E6,1661 EBANK= AOG
039326,000256: 37,3656 00006 REDOPOSE EXTEND # RE-STARTS COME HERE
039327,000257: 37,3657 31771 DCA TEMPROLL
039328,000258: 37,3660 53665 DXCH ROLL/180
039329,000259: 37,3661 31772 CA TEMPBETA
039330,000260: 37,3662 55666 TS BETA/180
039331,000261:
039332,000262: 37,3663 06006 TC INTPRET # CANT TC DANZIG AFTER PHASCHNG.
039333,000263: 37,3664 51575 CM/POSE3 VLOAD ABVAL # RETURN FROM CM/ATUP. (RESTART)
039334,000264: 37,3665 01036 VN # 2(-7) M/CS
039335,000265: 37,3666 03723 STORE VMAGI # FOR DISPLAY ON CALL.
039336,000266:
039337,000267: 37,3667 77650 GOTO
039338,000268: 37,3670 03324 POSEXIT # ENDEXIT, STARTENT, OR SCALEPOP.
039339,000269:
039340,000270: 37,3671 54001 CORANGOV TS L
039341,000271: 37,3672 00002 TC Q
039342,000272: 37,3673 50000 INDEX A
039343,000273: 37,3674 34751 CA LIMITS
039344,000274: 37,3675 26001 ADS L
039345,000275: 37,3676 00002 TC Q # COSTS 2 MCT TO USE. SEE ANGOVCOR.
039346,000276:
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Page 896 |
039348,000278: 37,3677 45730 53410 -KVSCALE 2DEC -.81491944 # -12800/(2 VS .3048)
039349,000279: 37,3701 03146 TCDU DEC .1 # TCDU = .1 SEC.
039350,000280:
039351,000281: 37,3702 E6,1661 EBANK= AOG
039352,000282: 37,3702 03656 76066 REPOSADR 2CADR REDOPOSE
End of include-file CM_BODY_ATTITUDE.agc. Parent file is MAIN.agc