GAP: ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011 19:02 NOV. 25,1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
|
|
These source-code files were transcribed from scans made from Don Eyles's personal
copy of Luminary 069. They were scanned at archive.org's Boston
facility, and the scanning was sponsored by Onno Hommes. The code was transcribed
from these scans by a team of volunteers who are referenced in the program
comments. Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". In some cases, where
similar code blocks exist in previously-transcribed AGC programs (primarily
Luminary 99, from Apollo 11) those code blocks were used as a starting point and
then corrected to agree with the Luminary 69 scans. The full scans are available
at the Virtual AGC
project's collection at archive.org, while more-convenient reduced-size (but reduced-quality)
images are available at
the main Virtual AGC website. Report any errors noted by creating an
issue report at the Virtual AGC
project's GitHub repository. Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011 19:02 NOV. 25,1968Note that the date is the date of the printout, not the date of the program revision. |
014518,000002: ## Copyright: Public domain.
014519,000003: ## Filename: LEM_GEOMETRY.agc
014520,000004: ## Purpose: The main source file for Luminary revision 069.
014521,000005: ## It is part of the source code for the original release
014522,000006: ## of the flight software for the Lunar Module's (LM) Apollo
014523,000007: ## Guidance Computer (AGC) for Apollo 10. The actual flown
014524,000008: ## version was Luminary 69 revision 2, which included a
014525,000009: ## newer lunar gravity model and only affected module 2.
014526,000010: ## This file is intended to be a faithful transcription, except
014527,000011: ## that the code format has been changed to conform to the
014528,000012: ## requirements of the yaYUL assembler rather than the
014529,000013: ## original YUL assembler.
014530,000014: ## Reference: pp. 334-338
014531,000015: ## Assembler: yaYUL
014532,000016: ## Contact: Ron Burkey <info@sandroid.org>.
014533,000017: ## Website: www.ibiblio.org/apollo/index.html
014534,000018: ## Mod history: 2016-12-13 MAS Created from Luminary 99.
014535,000019: ## 2017-01-14 RRB Updated for Luminary 69.
014536,000020: ## 2017-01-25 RSB Proofed comment text using octopus/prooferComments
014537,000021: ## and fixed errors found.
014538,000022: ## 2021-05-30 ABS Replaced use of ANTENBIT with BIT12 to match scans.
014539,000023:
|
|
Page 334 |
014541,000025: 23,2041 BANK 23
014542,000026: 13,2000 SETLOC LEMGEOM
014543,000027: 13,2000 BANK
014544,000028:
014545,000029: 13,2070 30,2000 SBANK= LOWSUPER
014546,000030: 13,2070 E5,1642 EBANK= XSM
014547,000031:
014548,000032: # THESE TWO ROUTINES COMPUTE THE ACTUAL STATE VECTOR FOR LM,CSM BY ADDING
014549,000033: # THE CONIC R,V AND THE DEVIATIONSR,V. THE STATE VECTORS ARE CONVERTED TO
014550,000034: # METERS B-29 AND METERS/CSEC B-7 AND STORED APPROPRIATELY IN RN,VN OR
014551,000035: # R-OTHER , V-OTHER FOR DOWNLINK. THE ROUTINES NAMES ARE SWITCHED IN THE
014552,000036: # OTHER VEHICLES COMPUTER.
014553,000037:
014554,000038: # INPUT
014555,000039: # STATE VECTOR IN TEMPORARY STORAGE AREA
014556,000040: # IF STATE VECTOR IS SCALED POS B27 AND VEL B5
014557,000041: # SET X2 TO +2
014558,000042: # IF STATE VECTOR IS SCALED POS B29 AND VEL B7
014559,000043: # SET X2 TO 0
014560,000044:
014561,000045: # OUTPUT
014562,000046: # R(T) IN RN, V(T) IN VN, T IN PIPTIME
014563,000047: # OR
014564,000048: # R(T) IN R-OTHER, V(T) IN V-OTHER (T IS DEFINED BY T-OTHER)
014565,000049:
014566,000050: 13,2070 COUNT* $$/GEOM
014567,000051: 13,2070 43414 SVDWN2 BOF RVQ # SW=1=AVETOMID DOING W-MATRIX INTEG.
014568,000052: 13,2071 04756 AVEMIDSW
014569,000053: 13,2072 26073 +1
014570,000054: 13,2073 53775 VLOAD VSL*
014571,000055: 13,2074 01521 TDELTAV
014572,000056: 13,2075 57605 0 -7,2
014573,000057: 13,2076 53655 VAD VSL*
014574,000058: 13,2077 01535 RCV
014575,000059: 13,2100 57576 0,2
014576,000060: 13,2101 25221 STOVL RN
014577,000061: 13,2102 01527 TNUV
014578,000062: 13,2103 53257 VSL* VAD
014579,000063: 13,2104 57602 0 -4,2
014580,000064: 13,2105 01543 VCV
014581,000065: 13,2106 77657 VSL*
014582,000066: 13,2107 57576 0,2
014583,000067: 13,2110 15227 STODL VN
014584,000068: 13,2111 01517 TET
014585,000069: 13,2112 01235 STORE PIPTIME
014586,000070: 13,2113 77616 RVQ
|
|
Page 335 |
014588,000072: 13,2114 53775 SVDWN1 VLOAD VSL*
014589,000073: 13,2115 01521 TDELTAV
014590,000074: 13,2116 57605 0 -7,2
014591,000075: 13,2117 53655 VAD VSL*
014592,000076: 13,2120 01535 RCV
014593,000077: 13,2121 57576 0,2
014594,000078: 13,2122 25720 STOVL R-OTHER
014595,000079: 13,2123 01527 TNUV
014596,000080: 13,2124 53257 VSL* VAD
014597,000081: 13,2125 57602 0 -4,2
014598,000082: 13,2126 01543 VCV
014599,000083: 13,2127 77657 VSL*
014600,000084: 13,2130 57576 0,2
014601,000085: 13,2131 01726 STORE V-OTHER
014602,000086: 13,2132 77616 RVQ
014603,000087:
|
|
Page 336 |
014605,000089: # THE FOLLOWING ROUTINE TAKES A HALF UNIT TARGET VECTOR REFERRED TO NAV BASE COORDINATES AND FINDS BOTH
014606,000090: # GIMBAL ORIENTATIONS AT WHICH THE RR MIGHT SIGHT THE TARGET. THE GIMBAL ANGLES CORRESPONDING TO THE PRESENT MODE
014607,000091: # ARE LEFT IN MODEA AND THOSE WHICH WOULD BE USED AFTER A REMODE IN MODEB. THIS ROUTINE ASSUMES MODE 1 IS TRUNNION
014608,000092: # ANGLE LESS THAN 90 DEGS IN ABS VALUE WITH ARBITRARY SHAFT, WITH A CORRESPONDING DEFINITION FOR MODE 2. MODE
014609,000093: # SELECTION AND LIMIT CHECKING ARE DONE ELSEWHERE.
014610,000094:
014611,000095: # THE MODE 1 CONFIGURATION IS CALCULATED FROM THE VECTOR AND THEN MODE 2 IS FOUND USING THE RELATIONS
014612,000096:
014613,000097: # S(2) = 180 + S(1)
014614,000098: # T(2) = 180 - T(1)
014615,000099:
014616,000100: # THE VECTOR ARRIVES IN MPAC WHERE TRG*SMNG OR *SMNB* WILL HAVE LEFT IT.
014617,000101:
014618,000102: 13,2133 00041 RRANGLES STORE 32D
014619,000103: 13,2134 57545 DLOAD DCOMP # SINCE WE WILL FIND THE MODE 1 SHAFT
014620,000104: 13,2135 00043 34D # ANGLE LATER, WE CAN FIND THE MODE 1
014621,000105: 13,2136 67401 SETPD ASIN # TRUNNION BY SIMPLY TAKING THE ARCSIN OF
014622,000106: 13,2137 00001 0 # THE Y COMPONENT, THE ASIN GIVING AN
014623,000107: 13,2140 44206 PUSH BDSU # ANSWER WHOSE ABS VAL IS LESS THAN 90 DEG
014624,000108: 13,2141 22273 LODPHALF
014625,000109: 13,2142 14005 STODL 4 # MODE 2 TRUNNION TO 4.
014626,000110:
014627,000111: 13,2143 22275 LO6ZEROS
014628,000112: 13,2144 24043 STOVL 34D # UNIT THE PROJECTION OF THE VECTOR
014629,000113: 13,2145 00041 32D # IN THE X-Z PLANE
014630,000114: 13,2146 41056 UNIT BOVB # IF OVERFLOW, TARGET VECTOR IS ALONG Y
014631,000115: 13,2147 52421 LUNDESCH # CALL FOR MANEUVER UNLESS ON LUNAR SURF
014632,000116: 13,2150 14041 STODL 32D # PROJECTION VECTOR.
014633,000117: 13,2151 00041 32D
014634,000118: 13,2152 44142 SR1 STQ
014635,000119: 13,2153 00051 S2
014636,000120: 13,2154 14023 STODL SINTH # USE ARCTRIG SINCE SHAFT COULD BE ARB.
014637,000121: 13,2155 00045 36D
014638,000122: 13,2156 77742 SR1
014639,000123: 13,2157 34021 STCALL COSTH
014640,000124: 13,2160 47222 ARCTRIG
|
|
Page 337 |
014642,000126: 13,2161 43206 PUSH DAD # MODE 1 SHAFT TO 2.
014643,000127: 13,2162 22273 LODPHALF
014644,000128: 13,2163 24007 STOVL 6
014645,000129: 13,2164 00005 4
014646,000130: 13,2165 77634 RTB # FIND MODE 2 CDU ANGLES.
014647,000131: 13,2166 21541 2V1STO2S
014648,000132: 13,2167 25112 STOVL MODEB
014649,000133: 13,2170 00001 0
014650,000134: 13,2171 77634 RTB # MODE 1 ANGLES TO MODE A.
014651,000135: 13,2172 21541 2V1STO2S
014652,000136: 13,2173 01110 STORE MODEA
014653,000137: 13,2174 77776 EXIT
014654,000138:
014655,000139: 13,2175 40110 CS RADMODES # SWAP MODEA AND MODEB IF RR IN MODE 2.
014656,000140: 13,2176 74740 MASK BIT12
014657,000141: 13,2177 10000 CCS A
014658,000142: 13,2200 12204 TCF +4
014659,000143:
014660,000144: 13,2201 53110 DXCH MODEA
014661,000145: 13,2202 53112 DXCH MODEB
014662,000146: 13,2203 53110 DXCH MODEA
014663,000147:
014664,000148: 13,2204 06036 TC INTPRET
014665,000149: 13,2205 77650 GOTO
014666,000150: 13,2206 00051 S2
|
|
Page 338 |
014668,000152: # GIVEN RR TRUNNION AND SHAFT (T,S) IN TANGNB,+1, FIND THE ASSOCIATED
014669,000153: # LINE OF SIGHT IN NAV BASE AXES. THE HALF UNIT VECTOR, .5(SIN(S)COS(T),
014670,000154: # -SIN(T),COS(S)COS(T)) IS LEFT IN MPAC AND 32D.
014671,000155:
014672,000156: 23,2000 SETLOC INFLIGHT
014673,000157: 23,2000 BANK
014674,000158:
014675,000159: 23,2041 COUNT* $$/GEOM
014676,000160:
014677,000161: 23,2041 47135 RRNB SLOAD RTB
014678,000162: 23,2042 03751 TANGNB
014679,000163: 23,2043 21465 CDULOGIC
014680,000164: 23,2044 41401 SETPD PUSH # TRUNNION ANGLE TO 0
014681,000165: 23,2045 00001 0
014682,000166: 23,2046 57556 SIN DCOMP
014683,000167: 23,2047 14043 STODL 34D # Y COMPONENT
014684,000168:
014685,000169: 23,2050 41546 COS PUSH # .5 COS(T) TO 0
014686,000170: 23,2051 47135 SLOAD RTB
014687,000171: 23,2052 03752 TANGNB +1
014688,000172: 23,2053 21465 CDULOGIC
014689,000173: 23,2054 71406 PUSH COS # SHAFT ANGLE TO 2
014690,000174: 23,2055 72405 DMP SL1
014691,000175: 23,2056 00001 0
014692,000176: 23,2057 14045 STODL 36D # Z COMPONENT
014693,000177:
014694,000178: 23,2060 41356 SIN DMP
014695,000179: 23,2061 77752 SL1
014696,000180: 23,2062 24041 STOVL 32D
014697,000181: 23,2063 00041 32D
014698,000182: 23,2064 77616 RVQ
End of include-file LEM_GEOMETRY.agc. Parent file is MAIN.agc