GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note 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 from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are 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 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision. |
013425,000002: ## Copyright: Public domain.
013426,000003: ## Filename: LEM_GEOMETRY.agc
013427,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
013428,000005: ## It is part of the source code for the Lunar Module's (LM)
013429,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
013430,000007: ## Assembler: yaYUL
013431,000008: ## Contact: Ron Burkey <info@sandroid.org>.
013432,000009: ## Website: www.ibiblio.org/apollo.
013433,000010: ## Pages: 320-325
013434,000011: ## Mod history: 2009-05-16 RSB Adapted from the corresponding
013435,000012: ## Luminary131 file, using page
013436,000013: ## images from Luminary 1A.
013437,000014: ## 2016-12-13 RSB Proofed text comments with octopus/ProoferComments
013438,000015: ## and corrected the errors found.
013439,000016: ## 2017-03-07 RSB Fixed comment-text error noticed while proofing
013440,000017: ## Luminary 116.
013441,000018: ##
013442,000019: ## This source code has been transcribed or otherwise adapted from
013443,000020: ## digitized images of a hardcopy from the MIT Museum. The digitization
013444,000021: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
013445,000022: ## the Museum. Many thanks to both. The images (with suitable reduction
013446,000023: ## in storage size and consequent reduction in image quality as well) are
013447,000024: ## available online at www.ibiblio.org/apollo. If for some reason you
013448,000025: ## find that the images are illegible, contact me at info@sandroid.org
013449,000026: ## about getting access to the (much) higher-quality images which Paul
013450,000027: ## actually created.
013451,000028: ##
013452,000029: ## Notations on the hardcopy document read, in part:
013453,000030: ##
013454,000031: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
013455,000032: ## 16:27 JULY 14, 1969
013456,000033:
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Page 320 |
013458,000035: 23,2041 BANK 23
013459,000036: 13,2000 SETLOC LEMGEOM
013460,000037: 13,2000 BANK
013461,000038:
013462,000039: 13,2070 30,2000 SBANK= LOWSUPER
013463,000040: 13,2070 E5,1642 EBANK= XSM
013464,000041:
013465,000042: # THESE TWO ROUTINES COMPUTE THE ACTUAL STATE VECTOR FOR LM,CSM BY ADDING
013466,000043: # THE CONIC R,V AND THE DEVIATIONS R,V. THE STATE VECTORS ARE CONVERTED TO
013467,000044: # METERS B-29 AND METERS/CSEC B-7 AND STORED APPROPRIATELY IN RN,VN OR
013468,000045: # R-OTHER,V-OTHER FOR DOWNLINK. THE ROUTINES NAMES ARE SWITCHED IN THE
013469,000046: # OTHER VEHICLES COMPUTER.
013470,000047:
013471,000048: # INPUT
013472,000049: # STATE VECTOR IN TEMPORARY STORAGE AREA
013473,000050: # IF STATE VECTOR IS SCALED POS B27 AND VEL B5
013474,000051: # SET X2 TO +2
013475,000052: # IF STATE VECTOR IS SCALED POS B29 AND VEL B7
013476,000053: # SET X2 TO 0
013477,000054:
013478,000055: # OUTPUT
013479,000056: # R(T) IN RN, V(T) IN VN, T IN PIPTIME
013480,000057: # OR
013481,000058: # R(T) IN R-OTHER, V(T) IN V-OTHER (T IS DEFINED BY T-OTHER)
013482,000059:
013483,000060: 13,2070 COUNT* $$/GEOM
013484,000061: 13,2070 43414 SVDWN2 BOF RVQ # SW=1=AVETOMID DOING W-MATRIX INTEG.
013485,000062: 13,2071 04756 AVEMIDSW
013486,000063: 13,2072 26073 +1
013487,000064: 13,2073 53775 VLOAD VSL*
013488,000065: 13,2074 01521 TDELTAV
013489,000066: 13,2075 57605 0 -7,2
013490,000067: 13,2076 53655 VAD VSL*
013491,000068: 13,2077 01535 RCV
013492,000069: 13,2100 57576 0,2
013493,000070: 13,2101 25221 STOVL RN
013494,000071: 13,2102 01527 TNUV
013495,000072: 13,2103 53257 VSL* VAD
013496,000073: 13,2104 57602 0 -4,2
013497,000074: 13,2105 01543 VCV
013498,000075: 13,2106 77657 VSL*
013499,000076: 13,2107 57576 0,2
013500,000077: 13,2110 15227 STODL VN
013501,000078: 13,2111 01517 TET
013502,000079: 13,2112 01235 STORE PIPTIME
013503,000080: 13,2113 77616 RVQ
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Page 321 |
013505,000082: 13,2114 53775 SVDWN1 VLOAD VSL*
013506,000083: 13,2115 01521 TDELTAV
013507,000084: 13,2116 57605 0 -7,2
013508,000085: 13,2117 53655 VAD VSL*
013509,000086: 13,2120 01535 RCV
013510,000087: 13,2121 57576 0,2
013511,000088: 13,2122 25720 STOVL R-OTHER
013512,000089: 13,2123 01527 TNUV
013513,000090: 13,2124 53257 VSL* VAD
013514,000091: 13,2125 57602 0 -4,2
013515,000092: 13,2126 01543 VCV
013516,000093: 13,2127 77657 VSL*
013517,000094: 13,2130 57576 0,2
013518,000095: 13,2131 01726 STORE V-OTHER
013519,000096: 13,2132 77616 RVQ
013520,000097:
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Page 322 |
013522,000099: # THE FOLLOWING ROUTINE TAKES A HALF UNIT TARGET VECTOR REFERRED TO NAV BASE COORDINATES AND FINDS BOTH
013523,000100: # GIMBAL ORIENTATIONS AT WHICH THE RR MIGHT SIGHT THE TARGET. THE GIMBAL ANGLES CORRESPONDING TO THE PRESENT MODE
013524,000101: # ARE LEFT IN MODEA AND THOSE WHICH WOULD BE USED AFTER A REMODE IN MODEB. THIS ROUTINE ASSUMES MODE 1 IS TRUNNION
013525,000102: # ANGLE LESS THAN 90 DEGS IN ABS VALUE WITH ARBITRARY SHAFT, WITH A CORRESPONDING DEFINITION FOR MODE 2. MODE
013526,000103: # SELECTION AND LIMIT CHECKING ARE DONE ELSEWHERE.
013527,000104:
013528,000105: # THE MODE 1 CONFIGURATION IS CALCULATED FROM THE VECTOR AND THEN MODE 2 IS FOUND USING THE RELATIONS
013529,000106:
013530,000107: # S(2) = 180 + S(1)
013531,000108: # T(2) = 180 - T(1)
013532,000109:
013533,000110: # THE VECTOR ARRIVES IN MPAC WHERE TRG*SMNG OR *SMNB* WILL HAVE LEFT IT.
013534,000111:
013535,000112: 13,2133 00041 RRANGLES STORE 32D
013536,000113: 13,2134 57545 DLOAD DCOMP # SINCE WE WILL FIND THE MODE 1 SHAFT
013537,000114: 13,2135 00043 34D # ANGLE LATER, WE CAN FIND THE MODE 1
013538,000115: 13,2136 67401 SETPD ASIN # TRUNNION BY SIMPLY TAKING THE ARCSIN OF
013539,000116: 13,2137 00001 0 # THE Y COMPONENT, THE ASIN GIVING AN
013540,000117: 13,2140 44206 PUSH BDSU # ANSWER WHOSE ABS VAL IS LESS THAN 90 DEG
013541,000118: 13,2141 24005 LODPHALF
013542,000119: 13,2142 14005 STODL 4 # MODE 2 TRUNNION TO 4.
013543,000120:
013544,000121: 13,2143 24007 LO6ZEROS
013545,000122: 13,2144 24043 STOVL 34D # UNIT THE PROJECTION OF THE VECTOR
013546,000123: 13,2145 00041 32D # IN THE X-Z PLANE
013547,000124: 13,2146 41056 UNIT BOVB # IF OVERFLOW, TARGET VECTOR IS ALONG Y
013548,000125: 13,2147 52421 LUNDESCH # CALL FOR MANEUVER UNLESS ON LUNAR SURF
013549,000126: 13,2150 14041 STODL 32D # PROJECTION VECTOR.
013550,000127: 13,2151 00041 32D
013551,000128: 13,2152 44142 SR1 STQ
013552,000129: 13,2153 00051 S2
013553,000130: 13,2154 14023 STODL SINTH # USE ARCTRIG SINCE SHAFT COULD BE ARB.
013554,000131: 13,2155 00045 36D
013555,000132: 13,2156 77742 SR1
013556,000133: 13,2157 34021 STCALL COSTH
013557,000134: 13,2160 47320 ARCTRIG
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Page 323 |
013559,000136: 13,2161 43206 PUSH DAD # MODE 1 SHAFT TO 2.
013560,000137: 13,2162 24005 LODPHALF
013561,000138: 13,2163 24007 STOVL 6
013562,000139: 13,2164 00005 4
013563,000140: 13,2165 77634 RTB # FIND MODE 2 CDU ANGLES.
013564,000141: 13,2166 21635 2V1STO2S
013565,000142: 13,2167 25112 STOVL MODEB
013566,000143: 13,2170 00001 0
013567,000144: 13,2171 77634 RTB # MODE 1 ANGLES TO MODE A.
013568,000145: 13,2172 21635 2V1STO2S
013569,000146: 13,2173 01110 STORE MODEA
013570,000147: 13,2174 77776 EXIT
013571,000148:
013572,000149: 13,2175 40110 CS RADMODES # SWAP MODEA AND MODEB IF RR IN MODE 2.
013573,000150: 13,2176 74740 MASK ANTENBIT
013574,000151: 13,2177 10000 CCS A
013575,000152: 13,2200 12204 TCF +4
013576,000153:
013577,000154: 13,2201 53110 DXCH MODEA
013578,000155: 13,2202 53112 DXCH MODEB
013579,000156: 13,2203 53110 DXCH MODEA
013580,000157:
013581,000158: 13,2204 06037 TC INTPRET
013582,000159: 13,2205 77650 GOTO
013583,000160: 13,2206 00051 S2
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Page 324 |
013585,000162: # GIVEN RR TRUNNION AND SHAFT (T,S) IN TANGNB,+1, FIND THE ASSOCIATED
013586,000163: # LINE OF SIGHT IN NAV BASE AXES. THE HALF UNIT VECTOR, .5(SIN(S)COS(T),
013587,000164: # -SIN(T),COS(S)COS(T)) IS LEFT IN MPAC AND 32D.
013588,000165:
013589,000166: 23,2000 SETLOC INFLIGHT
013590,000167: 23,2000 BANK
013591,000168:
013592,000169: 23,2041 COUNT* $$/GEOM
013593,000170:
013594,000171: 23,2041 47135 RRNB SLOAD RTB
013595,000172: 23,2042 03753 TANGNB
013596,000173: 23,2043 21576 CDULOGIC
013597,000174: 23,2044 41401 SETPD PUSH # TRUNNION ANGLE TO 0
013598,000175: 23,2045 00001 0
013599,000176: 23,2046 57556 SIN DCOMP
013600,000177: 23,2047 14043 STODL 34D # Y COMPONENT
013601,000178:
013602,000179: 23,2050 41546 COS PUSH # .5 COS(T) TO 0
013603,000180: 23,2051 47135 SLOAD RTB
013604,000181: 23,2052 03754 TANGNB +1
013605,000182: 23,2053 21576 CDULOGIC
013606,000183: 23,2054 71406 RRNB1 PUSH COS # SHAFT ANGLE TO 2
013607,000184: 23,2055 72405 DMP SL1
013608,000185: 23,2056 00001 0
013609,000186: 23,2057 14045 STODL 36D # Z COMPONENT
013610,000187:
013611,000188: 23,2060 41356 SIN DMP
013612,000189: 23,2061 77752 SL1
013613,000190: 23,2062 24041 STOVL 32D
013614,000191: 23,2063 00041 32D
013615,000192: 23,2064 77616 RVQ
013616,000193:
013617,000194: # THIS ENTRY TO RRNB REQUIRES THE TRUNNION AND SHAFT ANGLES IN MPAC AND MPAC +1 RESPECTIVELY
013618,000195:
013619,000196: 23,2065 14025 RRNBMPAC STODL 20D # SAVE SHAFT CDU IN 21.
013620,000197: 23,2066 00155 MPAC # SET MODE TO DP. (THE PRECEEDING STORE
013621,000198: # MAY BE DP, TP OR VECTOR.)
013622,000199: 23,2067 40234 RTB SETPD
013623,000200: 23,2070 21576 CDULOGIC
013624,000201: 23,2071 00001 0
013625,000202: 23,2072 73406 PUSH SIN # TRUNNION ANGLE TO 0
013626,000203: 23,2073 77676 DCOMP
013627,000204: 23,2074 14043 STODL 34D # Y COMPONENT
013628,000205: 23,2075 41546 COS PUSH # .5COS(T) TO 0
013629,000206: 23,2076 47135 SLOAD RTB # PICK UP CDU'S.
013630,000207: 23,2077 00026 21D
013631,000208: 23,2100 21576 CDULOGIC
013632,000209: 23,2101 77650 GOTO
013633,000210: 23,2102 46054 RRNB1
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013636,000213:
013637,000214:
End of include-file LEM_GEOMETRY.agc. Parent file is MAIN.agc