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. |
014063,000002: ## Copyright: Public domain.
014064,000003: ## Filename: R63.agc
014065,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
014066,000005: ## It is part of the source code for the Lunar Module's (LM)
014067,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
014068,000007: ## Assembler: yaYUL
014069,000008: ## Contact: Ron Burkey <info@sandroid.org>.
014070,000009: ## Website: www.ibiblio.org/apollo.
014071,000010: ## Pages: 338-341
014072,000011: ## Mod history: 2009-05-16 RSB Adapted from the corresponding
014073,000012: ## Luminary131 file, using page
014074,000013: ## images from Luminary 1A.
014075,000014: ## 2016-12-14 RSB Proofed text comments with octopus/ProoferComments
014076,000015: ## and corrected the errors found.
014077,000016: ## 2017-01-26 RSB Back-ported a comment-text fix from Luminary 69.
014078,000017: ## 2017-03-07 RSB Comment-text fixes noted in proofing Luminary 116.
014079,000018:
014080,000019: ## This source code has been transcribed or otherwise adapted from
014081,000020: ## digitized images of a hardcopy from the MIT Museum. The digitization
014082,000021: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
014083,000022: ## the Museum. Many thanks to both. The images (with suitable reduction
014084,000023: ## in storage size and consequent reduction in image quality as well) are
014085,000024: ## available online at www.ibiblio.org/apollo. If for some reason you
014086,000025: ## find that the images are illegible, contact me at info@sandroid.org
014087,000026: ## about getting access to the (much) higher-quality images which Paul
014088,000027: ## actually created.
014089,000028: ##
014090,000029: ## Notations on the hardcopy document read, in part:
014091,000030: ##
014092,000031: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
014093,000032: ## 16:27 JULY 14, 1969
014094,000033:
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Page 338 |
014096,000035: # SUBROUTINE NAME: V89CALL
014097,000036: # MOD NO: 0 DATE: 9 JAN 1968
014098,000037: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION: R63
014099,000038:
014100,000039: # FUNCTIONAL DESCRIPTION:
014101,000040:
014102,000041: # CALLED BY VERB 89 ENTER DURING P00. PRIO 10 USED. CALCULATES AND
014103,000042: # DISPLAYS FINAL FDAI BALL ANGLES TO POINT LM +X OR +Z AXIS AT CSM.
014104,000043:
014105,000044: # 1. KEY IN V 89 E ONLY IF IN PROG 00. IF NOT IN P00, OPERATOR ERROR AND
014106,000045: # EXIT R63, OTHERWISE CONTINUE.
014107,000046:
014108,000047: # 2. IF IN P00, DO IMU STATUS CHECK ROUTINE (R02BOTH). IF IMU ON AND ITS
014109,000048: # ORIENTATION KNOWN TO LGC, CONTINUE.
014110,000049:
014111,000050: # 3. FLASH DISPLAY V 04 N 06. R2 INDICATES WHICH SPACECRAFT AXIS IS TO
014112,000051: # BE POINTED AT CSM. INITIAL CHOICE IS PREFERRED (+Z) AXIS (R2=1).
014113,000052: # ASTRONAUT CAN CHANGE TO (+X) AXIS (R2 NOT =1) BY V 22 E 2 E. CONTINUE
014114,000053: # AFTER KEYING IN PROCEED.
014115,000054:
014116,000055: # 4. BOTH VEHICLE STATE VECTORS UPDATED BY CONIC EQS.
014117,000056:
014118,000057: # 5. HALF MAGNITUDE UNIT LOS VECTOR (IN STABLE MEMBER COORDINATES) AND
014119,000058: # HALF MAGNITUDE UNIT SPACECRAFT AXIS VECTOR (IN BODY COORDINATES)
014120,000059: # PREPARED FOR VECPOINT.
014121,000060:
014122,000061: # 6. GIMBAL ANGLES FROM VECPOINT TRANSFORMED INTO FDAI BALL ANGLES BY
014123,000062: # BALLANGS. FLASH DISPLAY V 06 N 18 AND AWAIT RESPONSE.
014124,000063:
014125,000064: # 7. RECYCLE - RETURN TO STEP 4.
014126,000065: # TERMINATE - EXIT R63.
014127,000066: # PROCEED - RESET 3AXISFLG AND CALL R60LEM FOR ATTITUDE MANEUVER.
014128,000067:
014129,000068: # CALLING SEQUENCE: V 89 E.
014130,000069:
014131,000070: # SUBROUTINES CALLED: CHKPOOH, R02BOTH, GOXDSPF, CSMCONIC, LEMCONIC,
014132,000071: # VECPOINT, BALLANGS, R60LEM.
014133,000072:
014134,000073: # NORMAL EXIT MODES: TC ENDEXT
014135,000074:
014136,000075: # ALARMS: 1. OPERATOR ERROR IF NOT IN P00.
014137,000076: # 2. PROGRAM ALARM IF IMU IS OFF.
014138,000077: # 3. PROGRAM ALARM IF IMU ORIENTATION IS UNKNOWN.
014139,000078:
014140,000079: # OUTPUT: NONE
014141,000080:
014142,000081: # ERASABLE INITIALIZATION REQUIRED: NONE
014143,000082:
014144,000083: # DEBRIS: OPTION1, +1, TDEC1, POINTVSM, SCAXIS, CPHI, CTHETA, CPSI,
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014146,000085: # 3AXISFLG.
014147,000086:
014148,000087: 06,3715 E4,1606 EBANK= RONE
014149,000088: 32,2217 BANK 32
014150,000089: 26,2000 SETLOC BAWLANGS
014151,000090: 26,2000 BANK
014152,000091:
014153,000092: 26,2022 COUNT* $$/R63
014154,000093: 26,2022 04616 V89CALL TC BANKCALL # IMU STATUS CHECK. RETURNS IF ORIENTATION
014155,000094: 26,2023 11254 CADR R02BOTH # KNOWN. ALARMS IF NOT.
014156,000095: 26,2024 36245 CAF THREE # ALLOW ASTRONAUT TO SELECT DESIRED
014157,000096: 26,2025 55051 TS OPTIONX # TRACKING ATTITUDE AXIS.
014158,000097: 26,2026 34753 CAF ONE
014159,000098: 26,2027 55052 TS OPTIONX +1
014160,000099: 26,2030 32117 CAF VB04N12 # V 04 N 12
014161,000100: 26,2031 04616 TC BANKCALL
014162,000101: 26,2032 20476 CADR GOFLASH
014163,000102: 26,2033 05472 TC ENDEXT # TERMINATE
014164,000103: 26,2034 02036 TC +2 # PROCEED
014165,000104: 26,2035 02030 TC -5 # DATA IN. OPTION1+1 = 1 FOR Z AXIS
014166,000105: 26,2036 06037 V89RECL TC INTPRET # = 2 FOR X AXIS
014167,000106: 26,2037 43234 RTB DAD
014168,000107: 26,2040 21573 LOADTIME # READ PRESENT TIME
014169,000108: 26,2041 14122 DP1MIN
014170,000109: 26,2042 02205 STORE TSTART82 # SAVE TIME FOR LEMCONIC CALL
014171,000110: 26,2043 34041 STCALL TDEC1 # STORE TIME FOR CSMCONIC CALL
014172,000111: 26,2044 27066 CSMCONIC # CSM STATE VECTOR UPDATE
014173,000112: 26,2045 77775 VLOAD # CSMCONIC LEFT R VECTOR IN RATT
014174,000113: 26,2046 00001 RATT
014175,000114: 26,2047 16207 STODL RONE # SAVE FOR LINE OF SIGHT (LOS) COMPUTATION
014176,000115: 26,2050 02205 TSTART82
014177,000116: 26,2051 34041 STCALL TDEC1 # STORE TIME FOR LEMCONIC CALL
014178,000117: 26,2052 27100 LEMCONIC # LEM STATE VECTOR UPDATE
014179,000118: 26,2053 52375 VLOAD VSU # CSM POSITION - LEM POSITION = LOS
014180,000119: 26,2054 02207 RONE # LOS VECTOR LEFT IN MPAC
014181,000120: 26,2055 00001 RATT
014182,000121: 26,2056 47121 MXV RTB # (REFSMMAT X LOS). TRANSFORMS LOS FROM
014183,000122: 26,2057 01734 REFSMMAT # REFERENCE COORD TO STAB MEMB COORD.
014184,000123: 26,2060 21726 NORMUNIT
014185,000124: 26,2061 03773 STORE POINTVSM # STORE LOS FOR VECPOINT CALL
014186,000125: 26,2062 77776 EXIT
014187,000126: 26,2063 41052 CS OPTIONX +1 # 1 FOR Z AXIS. 2 FOR X AXIS.
014188,000127: 26,2064 64753 AD ONE
014189,000128: 26,2065 00006 EXTEND
014190,000129: 26,2066 12113 BZF ALINEZ
014191,000130: 26,2067 06037 ALINEX TC INTPRET # X AXIS ALIGNMENT
014192,000131: 26,2070 77775 VLOAD
014193,000132: 26,2071 06520 UNITX # READ (.5, 0, 0)
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014195,000134: 26,2072 37765 V89CALL1 STCALL SCAXIS # STORE SELECTED ALIGNMENT AXIS
014196,000135: 26,2073 56040 VECPOINT # PUTS DESIRED GIM ANG (OG,IG,MG) IN TMPAC
014197,000136: 26,2074 00322 STORE CPHI # STORE GIMBAL ANGLES FOR BALLANGS CALL.
014198,000137: 26,2075 77776 EXIT
014199,000138: 26,2076 04616 TC BANKCALL
014200,000139: 26,2077 54266 CADR BALLANGS # PUTS DESIRED BALL ANGLES IN FDAIX,Y,Z
014201,000140: 26,2100 32120 CAF VB06N18 # V 06 N 18
014202,000141: 26,2101 04616 TC BANKCALL # NOUN 18 REFERS TO FDAIX,Y,Z
014203,000142: 26,2102 20476 CADR GOFLASH
014204,000143: 26,2103 05472 TC ENDEXT # TERMINATE
014205,000144: 26,2104 02106 TC +2 # PROCEED
014206,000145: 26,2105 02036 TC V89RECL # RECYCLE
014207,000146: 26,2106 05516 TC DOWNFLAG # RESET 3 AXIS FLAG
014208,000147: 26,2107 00124 ADRES 3AXISFLG # RESET BIT6 FLAG WORD 5
014209,000148: 26,2110 04616 TC BANKCALL # PERFORMS LEM MANEUVER TO ALIGN SELECTED
014210,000149: 26,2111 54123 CADR R60LEM # SPACECRAFT AXIS TO CSM.
014211,000150: 26,2112 15472 TCF ENDEXT # TERMINATE R63
014212,000151:
014213,000152: 26,2113 06037 ALINEZ TC INTPRET # Z AXIS ALIGNMENT
014214,000153: 26,2114 52175 VLOAD GOTO
014215,000154: 26,2115 06514 UNITZ # READ (0, 0, .5)
014216,000155: 26,2116 54072 V89CALL1
014217,000156:
014218,000157: 26,2117 01014 VB04N12 VN 412
014219,000158: 26,2120 01422 VB06N18 VN 0618
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014221,000160: 26,2121 00000 13560 DP1MIN 2DEC 6000 B-28
014222,000161:
End of include-file R63.agc. Parent file is MAIN.agc