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
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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. |
015118,000002: ## Copyright: Public domain.
015119,000003: ## Filename: R63.agc
015120,000004: ## Purpose: The main source file for Luminary revision 069.
015121,000005: ## It is part of the source code for the original release
015122,000006: ## of the flight software for the Lunar Module's (LM) Apollo
015123,000007: ## Guidance Computer (AGC) for Apollo 10. The actual flown
015124,000008: ## version was Luminary 69 revision 2, which included a
015125,000009: ## newer lunar gravity model and only affected module 2.
015126,000010: ## This file is intended to be a faithful transcription, except
015127,000011: ## that the code format has been changed to conform to the
015128,000012: ## requirements of the yaYUL assembler rather than the
015129,000013: ## original YUL assembler.
015130,000014: ## Reference: pp. 351-354
015131,000015: ## Assembler: yaYUL
015132,000016: ## Contact: Ron Burkey <info@sandroid.org>.
015133,000017: ## Website: www.ibiblio.org/apollo/index.html
015134,000018: ## Mod history: 2016-12-13 MAS Created from Luminary 99.
015135,000019: ## 2016-12-14 MAS Updated from comment-proofed Luminary 99 version.
015136,000020: ## 2017-01-17 RRB Updated for Luminary 69
015137,000021: ## 2017-01-25 RSB Proofed comment text using octopus/prooferComments
015138,000022: ## and fixed errors found.
015139,000023: ## 2017-03-07 RSB Comment-text fixes noted in proofing Luminary 116.
015140,000024:
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Page 351 |
015142,000026: # SUBROUTINE NAME: V89CALL
015143,000027: # MOD NO: 0 DATE: 9 JAN 1968
015144,000028: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION: R63
015145,000029:
015146,000030: # FUNCTIONAL DESCRIPTION:
015147,000031:
015148,000032: # CALLED BY VERB 89 ENTER DURING P00. PRIO 10 USED. CALCULATES AND
015149,000033: # DISPLAYS FINAL FDAI BALL ANGLES TO POINT LM +X OR +Z AXIS AT CSM.
015150,000034:
015151,000035: # 1. KEY IN V 89 E ONLY IF IN PROG 00. IF NOT IN P00, OPERATOR ERROR AND
015152,000036: # EXIT R63, OTHERWISE CONTINUE.
015153,000037:
015154,000038: # 2. IF IN P00, DO IMU STATUS CHECK ROUTINE (R02BOTH). IF IMU ON AND ITS
015155,000039: # ORIENTATION KNOWN TO LGC, CONTINUE.
015156,000040:
015157,000041: # 3. FLASH DISPLAY V 04 N 06. R2 INDICATES WHICH SPACECRAFT AXIS IS TO
015158,000042: # BE POINTED AT CSM. INITIAL CHOICE IS PREFERRED (+Z) AXIS (R2=1).
015159,000043: # ASTRONAUT CAN CHANGE TO (+X) AXIS (R2 NOT =1) BY V 22 E 2 E. CONTINUE
015160,000044: # AFTER KEYING IN PROCEED.
015161,000045:
015162,000046: # 4. BOTH VEHICLE STATE VECTORS UPDATED BY CONIC EQS.
015163,000047:
015164,000048: # 5. HALF MAGNITUDE UNIT LOS VECTOR (IN STABLE MEMBER COORDINATES) AND
015165,000049: # HALF MAGNITUDE UNIT SPACECRAFT AXIS VECTOR (IN BODY COORDINATES)
015166,000050: # PREPARED FOR VECPOINT.
015167,000051:
015168,000052: # 6. GIMBAL ANGLES FROM VECPOINT TRANSFORMED INTO FDAI BALL ANGLES BY
015169,000053: # BALLANGS. FLASH DISPLAY V 06 N 18 AND AWAIT RESPONSE.
015170,000054:
015171,000055: # 7. RECYCLE - RETURN TO STEP 4.
015172,000056: # TERMINATE - EXIT R63.
015173,000057: # PROCEED - RESET 3AXISFLG AND CALL R60LEM FOR ATTITUDE MANEUVER.
015174,000058:
015175,000059: # CALLING SEQUENCE: V 89 E.
015176,000060:
015177,000061: # SUBROUTINES CALLED: CHKPOOH, R02BOTH, GOXDSPF, CSMCONIC, LEMCONIC,
015178,000062: # VECPOINT, BALLANGS, R60LEM.
015179,000063:
015180,000064: # NORMAL EXIT MODES: TC ENDEXT
015181,000065:
015182,000066: # ALARMS: 1. OPERATOR ERROR IF NOT IN P00.
015183,000067: # 2. PROGRAM ALARM IF IMU IS OFF.
015184,000068: # 3. PROGRAM ALARM IF IMU ORIENTATION IS UNKNOWN.
015185,000069:
015186,000070: # OUTPUT: NONE
015187,000071:
015188,000072: # ERASABLE INITIALIZATION REQUIRED: NONE
015189,000073:
015190,000074: # DEBRIS: OPTION1, +1, TDEC1, POINTVSM, SCAXIS, CPHI, CTHETA, CPSI,
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Page 352 |
015192,000076: # 3AXISFLG.
015193,000077:
015194,000078: 06,3715 E4,1612 EBANK= RONE
015195,000079: 32,2227 BANK 32
015196,000080: 26,2000 SETLOC BAWLANGS
015197,000081: 26,2000 BANK
015198,000082:
015199,000083: 26,2000 COUNT* $$/R63
015200,000084: 26,2000 04616 V89CALL TC BANKCALL # IMU STATUS CHECK. RETURNS IF ORIENTATION
015201,000085: 26,2001 11175 CADR R02BOTH # KNOWN. ALARMS IF NOT.
015202,000086: 26,2002 36244 CAF THREE # ALLOW ASTRONAUT TO SELECT DESIRED
015203,000087: 26,2003 55051 TS OPTIONX # TRACKING ATTITUDE AXIS.
015204,000088: 26,2004 34753 CAF ONE
015205,000089: 26,2005 55052 TS OPTIONX +1
015206,000090: 26,2006 32075 CAF VB04N12 # V 04 N 12
015207,000091: 26,2007 04616 TC BANKCALL
015208,000092: 26,2010 20351 CADR GOFLASH
015209,000093: 26,2011 05472 TC ENDEXT # TERMINATE
015210,000094: 26,2012 02014 TC +2 # PROCEED
015211,000095: 26,2013 02006 TC -5 # DATA IN. OPTION1+1 = 1 FOR Z AXIS
015212,000096: 26,2014 06036 V89RECL TC INTPRET # = 2 FOR X AXIS
015213,000097: 26,2015 43234 RTB DAD
015214,000098: 26,2016 21462 LOADTIME # READ PRESENT TIME
015215,000099: 26,2017 14100 DP1MIN
015216,000100: 26,2020 02211 STORE TSTART82 # SAVE TIME FOR LEMCONIC CALL
015217,000101: 26,2021 34041 STCALL TDEC1 # STORE TIME FOR CSMCONIC CALL
015218,000102: 26,2022 27066 CSMCONIC # CSM STATE VECTOR UPDATE
015219,000103: 26,2023 77775 VLOAD # CSMCONIC LEFT R VECTOR IN RATT
015220,000104: 26,2024 00001 RATT
015221,000105: 26,2025 16213 STODL RONE # SAVE FOR LINE OF SIGHT (LOS) COMPUTATION
015222,000106: 26,2026 02211 TSTART82
015223,000107: 26,2027 34041 STCALL TDEC1 # STORE TIME FOR LEMCONIC CALL
015224,000108: 26,2030 27100 LEMCONIC # LEM STATE VECTOR UPDATE
015225,000109: 26,2031 52375 VLOAD VSU # CSM POSITION - LEM POSITION = LOS
015226,000110: 26,2032 02213 RONE # LOS VECTOR LEFT IN MPAC
015227,000111: 26,2033 00001 RATT
015228,000112: 26,2034 47121 MXV RTB # (REFSMMAT X LOS). TRANSFORMS LOS FROM
015229,000113: 26,2035 01734 REFSMMAT # REFERENCE COORD TO STAB MEMB COORD.
015230,000114: 26,2036 21700 NORMUNIT
015231,000115: 26,2037 03767 STORE POINTVSM # STORE LOS FOR VECPOINT CALL
015232,000116: 26,2040 77776 EXIT
015233,000117: 26,2041 41052 CS OPTIONX +1 # 1 FOR Z AXIS. 2 FOR X AXIS.
015234,000118: 26,2042 64753 AD ONE
015235,000119: 26,2043 00006 EXTEND
015236,000120: 26,2044 12071 BZF ALINEZ
015237,000121: 26,2045 06036 ALINEX TC INTPRET # X AXIS ALIGNMENT
015238,000122: 26,2046 77775 VLOAD
015239,000123: 26,2047 06422 UNITX # READ (.5, 0, 0)
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015241,000125: 26,2050 37761 V89CALL1 STCALL SCAXIS # STORE SELECTED ALIGNMENT AXIS
015242,000126: 26,2051 56016 VECPOINT # PUTS DESIRED GIM ANG (OG,IG,MG) IN TMPAC
015243,000127: 26,2052 00322 STORE CPHI # STORE GIMBAL ANGLES FOR BALLANGS CALL.
015244,000128: 26,2053 77776 EXIT
015245,000129: 26,2054 04616 TC BANKCALL
015246,000130: 26,2055 54244 CADR BALLANGS # PUTS DESIRED BALL ANGLES IN FDAIX,Y,Z
015247,000131: 26,2056 32076 CAF VB06N18 # V 06 N 18
015248,000132: 26,2057 04616 TC BANKCALL # NOUN 18 REFERS TO FDAIX,Y,Z
015249,000133: 26,2060 20351 CADR GOFLASH
015250,000134: 26,2061 05472 TC ENDEXT # TERMINATE
015251,000135: 26,2062 02064 TC +2 # PROCEED
015252,000136: 26,2063 02014 TC V89RECL # RECYCLE
015253,000137: 26,2064 05516 TC DOWNFLAG # RESET 3 AXIS FLAG
015254,000138: 26,2065 00124 ADRES 3AXISFLG # RESET BIT6 FLAG WORD 5
015255,000139: 26,2066 04616 TC BANKCALL # PERFORMS LEM MANEUVER TO ALIGN SELECTED
015256,000140: 26,2067 54101 CADR R60LEM # SPACECRAFT AXIS TO CSM.
015257,000141: 26,2070 15472 TCF ENDEXT # TERMINATE R63
015258,000142:
015259,000143: 26,2071 06036 ALINEZ TC INTPRET # Z AXIS ALIGNMENT
015260,000144: 26,2072 52175 VLOAD GOTO
015261,000145: 26,2073 06416 UNITZ # READ (0, 0, .5)
015262,000146: 26,2074 54050 V89CALL1
015263,000147:
015264,000148: 26,2075 01014 VB04N12 VN 412
015265,000149: 26,2076 01422 VB06N18 VN 0618
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015267,000151: 26,2077 00000 13560 DP1MIN 2DEC 6000 B-28
015268,000152:
End of include-file R63.agc. Parent file is MAIN.agc