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. |
060353,000002: ## Copyright: Public domain.
060354,000003: ## Filename: RTB_OP_CODES.agc
060355,000004: ## Purpose: The main source file for Luminary revision 069.
060356,000005: ## It is part of the source code for the original release
060357,000006: ## of the flight software for the Lunar Module's (LM) Apollo
060358,000007: ## Guidance Computer (AGC) for Apollo 10. The actual flown
060359,000008: ## version was Luminary 69 revision 2, which included a
060360,000009: ## newer lunar gravity model and only affected module 2.
060361,000010: ## This file is intended to be a faithful transcription, except
060362,000011: ## that the code format has been changed to conform to the
060363,000012: ## requirements of the yaYUL assembler rather than the
060364,000013: ## original YUL assembler.
060365,000014: ## Reference: pp. 1390-1397
060366,000015: ## Assembler: yaYUL
060367,000016: ## Contact: Ron Burkey <info@sandroid.org>.
060368,000017: ## Website: www.ibiblio.org/apollo/index.html
060369,000018: ## Mod history: 2016-12-13 MAS Created from Luminary 99.
060370,000019: ## 2016-12-18 MAS Updated from comment-proofed Luminary 99 version.
060371,000020: ## 2017-01-04 RRB Updated for Luminary 69.
060372,000021: ## 2017-01-21 HG Fix opcode RELINS -> RELINT
060373,000022: ## DXVH -> DXCH
060374,000023: ## 2017-01-22 HG Fix operand modifier 10d -> 10D
060375,000024: ## 2017-01-28 RSB Proofed comment text using octopus/prooferComments
060376,000025: ## and fixed errors found.
060377,000026:
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Page 1390 |
060379,000028: 22,3731 BANK 22
060380,000029: 10,2000 SETLOC RTBCODES
060381,000030: 10,2000 BANK
060382,000031:
060383,000032: 10,3462 E5,1664 EBANK= XNB
060384,000033: 10,3462 COUNT* $$/RTB
060385,000034:
060386,000035: # LOAD TIME2, TIME1 INTO MPAC:
060387,000036:
060388,000037: 10,3462 00006 LOADTIME EXTEND
060389,000038: 10,3463 30025 DCA TIME2
060390,000039: 10,3464 16054 TCF SLOAD2
060391,000040:
060392,000041: # CONVERT THE SINGLE PRECISION 2'S COMPLEMENT NUMBER ARRIVING IN MPAC (SCALED IN HALF-REVOLUTIONS) TO A
060393,000042: # DP 1'S COMPLEMENT NUMBER SCALED IN REVOLUTIONS.
060394,000043:
060395,000044: 10,3465 10154 CDULOGIC CCS MPAC
060396,000045: 10,3466 34755 CAF ZERO
060397,000046: 10,3467 13472 TCF +3
060398,000047: 10,3470 13471 NOOP
060399,000048: 10,3471 44736 CS HALF
060400,000049:
060401,000050: 10,3472 54155 TS MPAC +1
060402,000051: 10,3473 34755 CAF ZERO
060403,000052: 10,3474 56154 XCH MPAC
060404,000053: 10,3475 00006 EXTEND
060405,000054: 10,3476 74736 MP HALF
060406,000055: 10,3477 20155 DAS MPAC
060407,000056: 10,3500 16060 TCF DANZIG # MODE IS ALREADY AT DOUBLE-PRECISION
060408,000057:
060409,000058: # READ THE PIPS INTO MPAC WITHOUT CHANGING THEM:
060410,000059:
060411,000060: 10,3501 00004 READPIPS INHINT
060412,000061: 10,3502 30037 CA PIPAX
060413,000062: 10,3503 54154 TS MPAC
060414,000063: 10,3504 30040 CA PIPAY
060415,000064: 10,3505 54157 TS MPAC +3
060416,000065: 10,3506 30041 CA PIPAZ
060417,000066: 10,3507 00003 RELINT
060418,000067: 10,3510 54161 TS MPAC +5
060419,000068:
060420,000069: 10,3511 34755 CAF ZERO
060421,000070: 10,3512 54155 TS MPAC +1
060422,000071: 10,3513 54160 TS MPAC +4
060423,000072: 10,3514 54162 TS MPAC +6
060424,000073:
060425,000074: 10,3515 16520 VECMODE TCF VMODE
060426,000075:
060427,000076: # FORCE TP SIGN AGREEMENT IN MPAC:
060428,000077:
060429,000078: 10,3516 07256 SGNAGREE TC TPAGREE
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Page 1391 |
060431,000080: 10,3517 16060 TCF DANZIG
060432,000081:
060433,000082: # CONVERT THE DP 1'S COMPLEMENT ANGLE SCALED IN REVOLUTIONS TO A SINGLE PRECISION 2'S COMPLEMENT ANGLE
060434,000083: # SCALED IN HALF-REVOLUTIONS.
060435,000084:
060436,000085: 10,3520 03550 1STO2S TC 1TO2SUB
060437,000086: 10,3521 34755 CAF ZERO
060438,000087: 10,3522 54155 TS MPAC +1
060439,000088: 10,3523 16057 TCF NEWMODE
060440,000089:
060441,000090: # DO 1STO2S ON A VECTOR OF ANGLES:
060442,000091:
060443,000092: 10,3524 03550 V1STO2S TC 1TO2SUB # ANSWER ARRIVES IN A AND MPAC.
060444,000093:
060445,000094: 10,3525 52162 DXCH MPAC +5
060446,000095: 10,3526 52155 DXCH MPAC
060447,000096: 10,3527 03550 TC 1TO2SUB
060448,000097: 10,3530 54156 TS MPAC +2
060449,000098:
060450,000099: 10,3531 52160 DXCH MPAC +3
060451,000100: 10,3532 52155 DXCH MPAC
060452,000101: 10,3533 03550 TC 1TO2SUB
060453,000102: 10,3534 54155 TS MPAC +1
060454,000103:
060455,000104: 10,3535 30161 CA MPAC +5
060456,000105: 10,3536 54154 TS MPAC
060457,000106:
060458,000107: 10,3537 34753 TPMODE CAF ONE # MODE IS TP.
060459,000108: 10,3540 16057 TCF NEWMODE
060460,000109:
060461,000110: # V1STO2S FOR 2 COMPONENT VECTOR. USED BY RR.
060462,000111:
060463,000112: 10,3541 03550 2V1STO2S TC 1TO2SUB
060464,000113: 10,3542 52160 DXCH MPAC +3
060465,000114: 10,3543 52155 DXCH MPAC
060466,000115: 10,3544 03550 TC 1TO2SUB
060467,000116: 10,3545 54001 TS L
060468,000117: 10,3546 30157 CA MPAC +3
060469,000118: 10,3547 16054 TCF SLOAD2
060470,000119:
060471,000120: # SUBROUTINE TO DO DOUBLING AND 1'S TO 2'S CONVERSION:
060472,000121:
060473,000122: 10,3550 52155 1TO2SUB DXCH MPAC # FINAL MPAC +1 UNSPECIFIED.
060474,000123: 10,3551 20001 DDOUBL
060475,000124: 10,3552 10000 CCS A
060476,000125: 10,3553 64753 AD ONE
060477,000126: 10,3554 13556 TCF +2
060478,000127: 10,3555 40000 COM # THIS WAS REVERSE OF MSU.
060479,000128:
060480,000129: 10,3556 54154 TS MPAC # AND SKIP ON OVERFLOW.
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Page 1392 |
060482,000131: 10,3557 00002 TC Q
060483,000132:
060484,000133: 10,3560 50000 INDEX A # OVERFLOW UNCORRECT AND IN MSU.
060485,000134: 10,3561 34734 CAF LIMITS
060486,000135: 10,3562 26154 ADS MPAC
060487,000136: 10,3563 00002 TC Q
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Page 1393 |
060489,000138: # SUBROUTINE TO INCREMENT CDUS
060490,000139: 10,3564 33577 INCRCDUS CAF LOCTHETA
060491,000140: 10,3565 54130 TS BUF # PLACE ADRES(THETA) IN BUF.
060492,000141: 10,3566 30154 CAE MPAC # INCREMENT IN 1S COMPL.
060493,000142: 10,3567 03600 TC CDUINC
060494,000143:
060495,000144: 10,3570 24130 INCR BUF
060496,000145: 10,3571 30157 CAE MPAC +3
060497,000146: 10,3572 03600 TC CDUINC
060498,000147:
060499,000148: 10,3573 24130 INCR BUF
060500,000149: 10,3574 30161 CAE MPAC +5
060501,000150: 10,3575 03600 TC CDUINC
060502,000151:
060503,000152: 10,3576 13515 TCF VECMODE
060504,000153:
060505,000154: 10,3577 00321 LOCTHETA ADRES THETAD
060506,000155:
060507,000156: # THE FOLLOWING ROUTINE INCREMENTS IN 2S COMPLEMENT THE REGISTER WHOSE ADDRESS IS IN BUF BY THE 1S COMPL.
060508,000157: # QUANTITY FOUND IN TEM2. THIS MAY BE USED TO INCREMENT DESIRED IMU AND OPTICS CDU ANGLES OR ANY OTHER 2S COMPL.
060509,000158: # (+0 UNEQUAL TO -0) QUANTITY. MAY BE CALLED BY BANKCALL/SWCALL.
060510,000159:
060511,000160: 10,3600 54142 CDUINC TS TEM2 # 1S COMPL.QUANT. ARRIVES IN ACC. STORE IT
060512,000161: 10,3601 50130 INDEX BUF
060513,000162: 10,3602 10000 CCS 0 # CHANGE 2S COMPL. ANGLE(IN BUF)INTO 1S
060514,000163: 10,3603 64753 AD ONE
060515,000164: 10,3604 13610 TCF +4
060516,000165: 10,3605 64753 AD ONE
060517,000166: 10,3606 64753 AD ONE # OVERFLOW HERE IF 2S COMPL. IS 180 DEG.
060518,000167: 10,3607 40000 COM
060519,000168:
060520,000169: 10,3610 60142 AD TEM2 # SULT MOVES FROM 2ND TO 3D QUAD.(OR BACK)
060521,000170: 10,3611 10000 CCS A # BACK TO 2S COMPL.
060522,000171: 10,3612 64753 AD ONE
060523,000172: 10,3613 13615 TCF +2
060524,000173: 10,3614 40000 COM
060525,000174: 10,3615 54142 TS TEM2 # STORE 14BIT QUANTITY WITH PRESENT SIGN
060526,000175: 10,3616 13622 TCF +4
060527,000176: 10,3617 50000 INDEX A # SIGN.
060528,000177: 10,3620 34734 CAF LIMITS # FIX IT, BY ADDING IN 37777 OR 40000
060529,000178: 10,3621 60142 AD TEM2
060530,000179:
060531,000180: 10,3622 50130 INDEX BUF
060532,000181: 10,3623 54000 TS 0 # STORE NEW ANGLE IN 2S COMPLEMENT.
060533,000182: 10,3624 00002 TC Q
060534,000183:
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Page 1394 |
060536,000185: # RTB TO TORQUE GYROS, EXCEPT FOR THE CALL TO IMUSTALL. ECADR OF COMMANDS ARRIVES IN X1.
060537,000186:
060538,000187: 10,3625 50120 PULSEIMU INDEX FIXLOC # ADDRESS OF GYRO COMMANDS SHOULD BE IN X1
060539,000188: 10,3626 30046 CA X1
060540,000189: 10,3627 04616 TC BANKCALL
060541,000190: 10,3630 17276 CADR IMUPULSE
060542,000191: 10,3631 16060 TCF DANZIG
060543,000192:
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Page 1395 |
060545,000194: # EACH ROUTINE TAKES A 3X3 MATRIX STORED IN DOUBLE PRECISION IN A FIXED AREA OF ERASABLE MEMORY AND REPLACES IT
060546,000195: # WITH THE TRANSPOSE MATRIX. TRANSP1 USES LOCATIONS XNB+0,+1 THROUGH XNB+16D, 17D AND TRANSP2 USES LOCATIONS
060547,000196: # XNB1+0,+1 THROUGH XNB1+16D, 17D. EACH MATRIX IS STORED BY ROWS.
060548,000197:
060549,000198: 10,3632 02664 XNBEB ECADR XNB
060550,000199: 10,3633 03467 XNB1EB ECADR XNB1
060551,000200:
060552,000201: 10,3634 E5,1664 EBANK= XNB
060553,000202:
060554,000203: 10,3634 33632 TRANSP1 CAF XNBEB
060555,000204: 10,3635 54003 TS EBANK
060556,000205: 10,3636 53667 DXCH XNB +2
060557,000206: 10,3637 53673 DXCH XNB +6
060558,000207: 10,3640 53667 DXCH XNB +2
060559,000208:
060560,000209: 10,3641 53671 DXCH XNB +4
060561,000210: 10,3642 53701 DXCH XNB +12D
060562,000211: 10,3643 53671 DXCH XNB +4
060563,000212:
060564,000213: 10,3644 53677 DXCH XNB +10D
060565,000214: 10,3645 53703 DXCH XNB +14D
060566,000215: 10,3646 53677 DXCH XNB +10D
060567,000216: 10,3647 16060 TCF DANZIG
060568,000217:
060569,000218: 10,3650 E7,1467 EBANK= XNB1
060570,000219:
060571,000220: 10,3650 33633 TRANSP2 CAF XNB1EB
060572,000221: 10,3651 54003 TS EBANK
060573,000222: 10,3652 53472 DXCH XNB1 +2
060574,000223: 10,3653 53476 DXCH XNB1 +6
060575,000224: 10,3654 53472 DXCH XNB1 +2
060576,000225:
060577,000226: 10,3655 53474 DXCH XNB1 +4
060578,000227: 10,3656 53504 DXCH XNB1 +12D
060579,000228: 10,3657 53474 DXCH XNB1 +4
060580,000229:
060581,000230: 10,3660 53502 DXCH XNB1 +10D
060582,000231: 10,3661 53506 DXCH XNB1 +14D
060583,000232: 10,3662 53502 DXCH XNB1 +10D
060584,000233: 10,3663 16060 TCF DANZIG
060585,000234:
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Page 1396 |
060587,000236: # THE SUBROUTINE SIGNMPAC SETS C(MPAC, MPAC +1) TO SIGN(MPAC).
060588,000237: # FOR THIS, ONLY THE CONTENTS OF MPAC ARE EXAMINED. ALSO +0 YIELDS POSMAX AND -0 YIELDS NEGMAX.
060589,000238:
060590,000239: # ENTRY MAY BE BY EITHER OF THE FOLLOWING:
060591,000240: # 1. LIMIT THE SIZE OF MPAC ON INTERPRETIVE OVERFLOW:
060592,000241: # ENTRY: BOVB
060593,000242: # SIGNMPAC
060594,000243: # 2. GENERATE IN MPAC THE SIGNUM FUNCTION OF MPAC:
060595,000244: # ENTRY: RTB
060596,000245: # SIGNMPAC
060597,000246: # IN EITHER CASE, RETURN IS TO THE NEXT INTERPRETIVE INSTRUCTION IN THE CALLING SEQUENCE.
060598,000247:
060599,000248: 10,3664 00006 SIGNMPAC EXTEND
060600,000249: 10,3665 34733 DCA DPOSMAX
060601,000250: 10,3666 52155 DXCH MPAC
060602,000251: 10,3667 10000 CCS A
060603,000252: 10,3670 34755 DPMODE CAF ZERO # SETS MPAC +2 TO ZERO IN THE PROCESS
060604,000253: 10,3671 16056 TCF SLOAD2 +2
060605,000254: 10,3672 13673 TCF +1
060606,000255: 10,3673 00006 EXTEND
060607,000256: 10,3674 44733 DCS DPOSMAX
060608,000257: 10,3675 16054 TCF SLOAD2
060609,000258:
060610,000259: # RTB OP CODE NORMUNIT IS LIKE INTERPRETIVE INSTRUCTION UNIT, EXCEPT THAT IT CAN BE DEPENDED ON NOT TO BLOW
060611,000260: # UP WHEN THE VECTOR BEING UNITIZED IS VERY SMALL -- IT WILL BLOW UP WHEN ALL COMPONENTS ARE ZERO. IF NORMUNIT
060612,000261: # IS USED AND THE UPPER ORDER HALVES OF ALL COMPONENTS ARE ZERO, THE MAGNITUDE RETURNED IN 36D WILL BE TOO LARGE
060613,000262: # BY A FACTOR OF 2(13) AND THE SQUARED MAGNITUDE RETURNED AT 34D WILL BE TOO BIG BY A FACTOR OF 2(26).
060614,000263:
060615,000264: 10,3676 34753 NORMUNX1 CAF ONE
060616,000265: 10,3677 13701 TCF NORMUNIT +1
060617,000266: 10,3700 34755 NORMUNIT CAF ZERO
060618,000267: 10,3701 60120 AD FIXLOC
060619,000268: 10,3702 54156 TS MPAC +2
060620,000269: 10,3703 04616 TC BANKCALL # GET SIGN AGREEMENT IN ALL COMPONENTS
060621,000270: 10,3704 01010 CADR VECAGREE
060622,000271: 10,3705 10154 CCS MPAC
060623,000272: 10,3706 13742 TCF NOSHIFT
060624,000273: 10,3707 13711 TCF +2
060625,000274: 10,3710 13742 TCF NOSHIFT
060626,000275: 10,3711 10157 CCS MPAC +3
060627,000276: 10,3712 13742 TCF NOSHIFT
060628,000277: 10,3713 13715 TCF +2
060629,000278: 10,3714 13742 TCF NOSHIFT
060630,000279: 10,3715 10161 CCS MPAC +5
060631,000280: 10,3716 13742 TCF NOSHIFT
060632,000281: 10,3717 13721 TCF +2
060633,000282: 10,3720 13742 TCF NOSHIFT
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Page 1397 |
060635,000284: 10,3721 30155 CA MPAC +1 # SHIFT ALL COMPONENTS LEFT 13
060636,000285: 10,3722 00006 EXTEND
060637,000286: 10,3723 74736 MP BIT14
060638,000287: 10,3724 20155 DAS MPAC # DAS GAINS A LITTLE ACCURACY
060639,000288: 10,3725 30160 CA MPAC +4
060640,000289: 10,3726 00006 EXTEND
060641,000290: 10,3727 74736 MP BIT14
060642,000291: 10,3730 20160 DAS MPAC +3
060643,000292: 10,3731 30162 CA MPAC +6
060644,000293: 10,3732 00006 EXTEND
060645,000294: 10,3733 74736 MP BIT14
060646,000295: 10,3734 20162 DAS MPAC +5
060647,000296: 10,3735 34761 CAF THIRTEEN
060648,000297: 10,3736 50156 INDEX MPAC +2
060649,000298: 10,3737 54045 TS 37D
060650,000299: 10,3740 04635 OFFTUNIT TC POSTJUMP
060651,000300: 10,3741 01024 CADR UNIT +1 # SKIP THE "TC VECAGREE" DONE AT UNIT
060652,000301:
060653,000302: 10,3742 34755 NOSHIFT CAF ZERO
060654,000303: 10,3743 13736 TCF OFFTUNIT -2
060655,000304:
060656,000305: # RTB VECSGNAG ... FORCES SIGN AGREEMENT OF VECTOR IN MPAC.
060657,000306:
060658,000307: 10,3744 04616 VECSGNAG TC BANKCALL
060659,000308: 10,3745 01010 CADR VECAGREE
060660,000309: 10,3746 06060 TC DANZIG
End of include-file RTB_OP_CODES.agc. Parent file is MAIN.agc