Source Code
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This is a reconstructed version of Luminary 130, the initial AGC program released
in November 1969 for the Apollo 13 LM. Three more releases
followed before the flown revision was finally manufactured in February 1970.
This reconstruction was created from a previous transcription of the original listing of
Luminary 131, combined with Luminary memo #129 which describes the small difference
between the Luminary 130 and 131. The reconstructed source code was verified by
matching memory-bank checksums to those listed for Luminary 130 in drawing 2021152G.
In this source code, program comments from the original (Luminary 131) code are
prefixed with '#', while those added later by the Virtual AGC project are prefixed
with '##'.
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020315,000002: ## Copyright: Public domain.
020316,000003: ## Filename: R60,R62.agc
020317,000004: ## Purpose: A section of the reconstructed source code for Luminary 130.
020318,000005: ## This was the original program released for the Apollo 13 LM,
020319,000006: ## although several more revisions would follow. It has been
020320,000007: ## reconstructed from a listing of Luminary 131, from which it
020321,000008: ## differs on only two lines in P70-P71. The difference is
020322,000009: ## described in detail in Luminary memo #129, which was used
020323,000010: ## to perform the reconstruction. This file is intended to be a
020324,000011: ## faithful reconstruction, except that the code format has been
020325,000012: ## changed to conform to the requirements of the yaYUL assembler
020326,000013: ## rather than the original YUL assembler.
020327,000014: ## Reference: pp. 476-489
020328,000015: ## Contact: Ron Burkey <info@sandroid.org>.
020329,000016: ## Website: www.ibiblio.org/apollo/index.html
020330,000017: ## Mod history: 05/14/03 RSB. Began transcribing.
020331,000018: ## 05/14/05 RSB Corrected website reference above.
020332,000019: ## 2017-01-06 RSB Page numbers now agree with those on the
020333,000020: ## original harcopy, as opposed to the PDF page
020334,000021: ## numbers in 1701.pdf.
020335,000022: ## 2017-01-27 RSB Back-ported a comment-text fix identified in Luminary 69.
020336,000023: ## 2017-02-23 RSB Proofed comment text using octopus/ProoferComments.
020337,000024: ## 2017-02-28 RSB Fixed lingering typos.
020338,000025: ## 2017-03-09 RSB Comment text fixes noted in proofing Luminary 116.
020339,000026: ## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130.
020340,000027:
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Page 476
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020342,000029: # MOD NO: 0 DATE: 1 MAY 1968
020343,000030: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62
020344,000031:
020345,000032: # FUNCTIONAL DESCRIPTION:
020346,000033:
020347,000034: # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
020348,000035: # ATTITUDE.
020349,000036:
020350,000037: # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
020351,000038: # CALCULATED (VECPOINT).
020352,000039:
020353,000040: # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020354,000041:
020355,000042: # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
020356,000043:
020357,000044: # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
020358,000045: # ASTRONAUT RESPONSE.
020359,000046:
020360,000047: # 5. DISPLAY RESPONSE RETURNS:
020361,000048:
020362,000049: # A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
020363,000050:
020364,000051: # B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
020365,000052: # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
020366,000053: # NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
020367,000054:
020368,000055: # C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
020369,000056:
020370,000057: # 6. IF THE 3-AXIS FLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
020371,000058: # (VECPOINT).
020372,000059:
020373,000060: # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020374,000061:
020375,000062: # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
020376,000063: #
020377,000064: # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
020378,000065:
020379,000066: # 10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
020380,000067:
020381,000068: # 11. DO A PHASECHANGE.
020382,000069:
020383,000070: # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
020384,000071: # GIMBAL ANGLES (GOMANUR).
020385,000072:
020386,000073: # 13. AT END OF MANEUVER GO TO STEP 3.
020387,000074:
020388,000075: # IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
020389,000076: # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
020390,000077: # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT
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Page 477
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020392,000079: # STEP 5C.
020393,000080:
020394,000081: # CALLING SEQUENCE: TC BANKCALL
020395,000082: # CADR R60LEM
020396,000083:
020397,000084: # ERASABLE INITIALIZATION REQUIRED: SCAXIS, POINTVSM (FOR VECPOINT)
020398,000085: # 3AXISFLG.
020399,000086:
020400,000087: # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
020401,000088: # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
020402,000089:
020403,000090: # NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS)
020404,000091: # TC BANKJUMP
020405,000092:
020406,000093: # ALARMS: NONE
020407,000094:
020408,000095: # OUTPUT: NONE
020409,000096:
020410,000097: # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
020411,000098:
020412,000099: 34,2000 BANK 34
020413,000100: 26,2000 SETLOC MANUVER
020414,000101: 26,2000 BANK
020415,000102:
020416,000103: 26,2123 1163 EBANK= TEMPR60
020417,000104:
020418,000105: 26,2123 COUNT* $$/R06
020419,000106: 26,2123 04645 R60LEM TC MAKECADR
020420,000107: 26,2124 55163 TS TEMPR60
020421,000108:
020422,000109: 26,2125 34746 REDOMANN CAF 3AXISBIT
020423,000110: 26,2126 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
020424,000111: 26,2127 10000 CCS A
020425,000112: 26,2130 12136 TCF TOBALL # YES
020426,000113: 26,2131 06042 TC INTPRET
020427,000114: 26,2132 77624 CALL
020428,000115: 26,2133 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020429,000116: 26,2134 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
020430,000117: 26,2135 77776 EXIT
020431,000118:
020432,000119: 26,2136 05504 TOBALL TC UPFLAG # INSURE THAT TOTAL ATTITUDE ERRORS ARE
020433,000120: 26,2137 00013 ADRES NEEDLFLG # DISPLAYED ON FDAI ERROR NEEDLES
020434,000121: 26,2140 05516 TC DOWNFLAG
020435,000122: 26,2141 00000 ADRES NEED2FLG
020436,000123: 26,2142 04616 TC BANKCALL
020437,000124: 26,2143 54272 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020438,000125: 26,2144 32260 TOBALLA CAF V06N18
020439,000126: 26,2145 04616 TC BANKCALL
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Page 478
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020441,000128: 26,2146 20711 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
020442,000129: 26,2147 02246 TC R61TEST
020443,000130: 26,2150 02154 TC REDOMANC # PROCEED
020444,000131: 26,2151 02201 TC ENDMANU1 # ENTER I.E. FINISHED WITH R60
020445,000132: 26,2152 02205 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020446,000133: 26,2153 05155 TC ENDOFJOB
020447,000134:
020448,000135: 26,2154 34746 REDOMANC CAF 3AXISBIT
020449,000136: 26,2155 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
020450,000137: 26,2156 10000 CCS A
020451,000138: 26,2157 12165 TCF TOBALLC # YES
020452,000139: 26,2160 06042 TC INTPRET
020453,000140: 26,2161 77624 CALL
020454,000141: 26,2162 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020455,000142: 26,2163 00322 STORE CPHI # STORE ANGLES
020456,000143: 26,2164 77776 EXIT
020457,000144:
020458,000145: 26,2165 04616 TOBALLC TC BANKCALL
020459,000146: 26,2166 54272 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020460,000147: 26,2167 02261 TC G+N,AUTO # CHECK AUTO MODE
020461,000148: 26,2170 10000 CCS A
020462,000149: 26,2171 12144 TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER.
020463,000150:
020464,000151: 26,2172 32260 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER
020465,000152: 26,2173 04616 TC BANKCALL # -
020466,000153: 26,2174 20452 CADR GODSPR # -
020467,000154: 26,2175 02205 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020468,000155:
020469,000156: 26,2176 04616 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU
020470,000157: 26,2177 17741 CADR GOMANUR
020471,000158:
020472,000159: 26,2200 12144 ENDMANUV TCF TOBALLA # FINISHED MANEUVER.
020473,000160: 26,2201 05516 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
020474,000161: 26,2202 00124 ADRES 3AXISFLG
020475,000162: 26,2203 31163 CAE TEMPR60 # -
020476,000163: 26,2204 04640 TC BANKJUMP # -
020477,000164:
020478,000165: 26,2205 40100 CHKLINUS CS FLAGWRD4
020479,000166: 26,2206 74740 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
020480,000167: 26,2207 10000 CCS A # -
020481,000168: 26,2210 00002 TC Q # NO - EXIT
020482,000169: 26,2211 30002 CA Q
020483,000170: 26,2212 54156 TS MPAC +2 # SAVE RETURN
020484,000171: 26,2213 46250 CS THREE # OBTAIN LOCATION FOR RESTART
020485,000172: 26,2214 60133 AD BUF2 # HOLDS Q OF LAST DISPLAY
020486,000173: 26,2215 55054 TS TBASE2
020487,000174:
020488,000175: 26,2216 05353 TC PHASCHNG
020489,000176: 26,2217 00132 OCT 00132
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Page 479
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020491,000178: 26,2220 34745 CAF BIT7
020492,000179: 26,2221 05464 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY -
020493,000180: 26,2222 00156 TC MPAC +2
020494,000181:
020495,000182: 26,2223 37717 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY
020496,000183: 26,2224 05146 TC PRIOCHNG
020497,000184:
020498,000185: 26,2225 34747 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
020499,000186: 26,2226 70075 MASK FLAGWRD1
020500,000187: 26,2227 10000 CCS A
020501,000188: 26,2230 12243 TCF RER60
020502,000189:
020503,000190: 26,2231 34745 CAF RNDVZBIT # IS IT P20?
020504,000191: 26,2232 70074 MASK FLAGWRD0
020505,000192: 26,2233 10000 CCS A
020506,000193: 26,2234 02240 TC +4 # YES
020507,000194: 26,2235 05353 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT
020508,000195: 26,2236 40112 OCT 40112
020509,000196:
020510,000197: 26,2237 05155 TC ENDOFJOB
020511,000198:
020512,000199: 26,2240 05353 TC PHASCHNG # SET 2.7 SPOT FOR P20
020513,000200: 26,2241 40072 OCT 40072
020514,000201:
020515,000202: 26,2242 05155 TC ENDOFJOB
020516,000203:
020517,000204: 26,2243 05504 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART
020518,000205: 26,2244 00077 ADRES PDSPFLAG
020519,000206:
020520,000207: 26,2245 01054 TC TBASE2
020521,000208:
020522,000209: 26,2246 31010 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89
020523,000210: 26,2247 00006 EXTEND
020524,000211: 26,2250 12201 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER
020525,000212:
020526,000213: 26,2251 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25)
020527,000214: 26,2252 74740 MASK PDSPFBIT
020528,000215: 26,2253 00006 EXTEND
020529,000216: 26,2254 16001 BZF GOTOPOOH # NO
020530,000217: 26,2255 06025 TC GOTOV56 # YES
020531,000218:
020532,000219: 26,2256 20100 BIT14+7 OCT 20100 # -
020533,000220: 26,2257 00203 OCT203 OCT 203
020534,000221: 26,2260 01422 V06N18 VN 0618
020535,000222:
020536,000223: # SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
020537,000224:
020538,000225: # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
020539,000226: # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
020540,000227:
020541,000228: 26,2261 00006 G+N,AUTO EXTEND
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Page 480
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020543,000230: 26,2262 00030 READ CHAN30
020544,000231: 26,2263 74742 MASK BIT10
020545,000232: 26,2264 10000 CCS A
020546,000233: 26,2265 00002 TC Q # NOT IN G+N C(A) = +
020547,000234: 26,2266 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE
020548,000235: 26,2267 00031 READ CHAN31
020549,000236: 26,2270 74736 MASK BIT14
020550,000237: 26,2271 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK
020551,000238:
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Page 481
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020553,000240: # PROGRAM DESCRIPTION BALLANGS
020554,000241: # MOD NO. LOG SECTION R60,R62
020555,000242: # WRITTEN BY RAMA M. AIYAWAR
020556,000243:
020557,000244: # FUNCTIONAL DESCRIPTION
020558,000245:
020559,000246: # COMPUTES LM FDAI BALL DISPLAY ANGLES
020560,000247:
020561,000248: # CALLING SEQUENCE
020562,000249:
020563,000250: # TC BALLANGS
020564,000251:
020565,000252: # NORMAL EXIT MODE
020566,000253:
020567,000254: # TC BALLEXIT (SAVED Q)
020568,000255:
020569,000256: # ALARM OR EXIT MODE NIL
020570,000257:
020571,000258: # SUBROUTINES CALLED
020572,000259:
020573,000260: # CD*TR*G
020574,000261: # ARCTAN
020575,000262:
020576,000263: # INPUT
020577,000264:
020578,000265: # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG, AIG, AMG. THEY ARE
020579,000266: # SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
020580,000267:
020581,000268: # OUTPUT
020582,000269:
020583,000270: # FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
020584,000271: # SP,2S COMPLIMENT.
020585,000272:
020586,000273: # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
020587,000274:
020588,000275: # ERASABLE INITIALIZATION REQUIRED
020589,000276:
020590,000277: # CPHI, CTHETA, CPSI EACH A SP REGISTER
020591,000278:
020592,000279: # DEBRIS
020593,000280:
020594,000281: # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
020595,000282:
020596,000283: # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
020597,000284: # EQUIVALENTLY, CDUX, CDUY, & CDUZ.
020598,000285:
020599,000286: # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
020600,000287:
020601,000288: 26,2000 SETLOC BAWLANGS
020602,000289: 26,2000 BANK
020603,000290:
020604,000291: 26,2272 COUNT* $$/BALL
020605,000292: 26,2272 04645 BALLANGS TC MAKECADR
020606,000293: 26,2273 55337 TS BALLEXIT
020607,000294: 26,2274 30321 CA CPHI
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Page 482
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020609,000296: 26,2275 54771 TS CDUSPOT +4
020610,000297: 26,2276 30322 CA CTHETA
020611,000298: 26,2277 54765 TS CDUSPOT
020612,000299: 26,2300 30323 CA CPSI
020613,000300: 26,2301 54767 TS CDUSPOT +2
020614,000301:
020615,000302: 26,2302 06042 TC INTPRET
020616,000303: 26,2303 45001 SETPD CALL
020617,000304: 26,2304 00001 0D
020618,000305: 26,2305 47545 CD*TR*G
020619,000306:
020620,000307: 26,2306 41345 DLOAD DMP
020621,000308: 26,2307 00742 SINCDUX # SIN (OGA)
020622,000309: 26,2310 00746 COSCDUZ # COS (MGA)
020623,000310:
020624,000311: 26,2311 57552 SL1 DCOMP # SCALE
020625,000312: 26,2312 65336 ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD
020626,000313: 26,2313 00740 SINCDUZ
020627,000314: 26,2314 14023 STODL SINTH # (SINTH = 18D IN PD)
020628,000315: 26,2315 00746 COSCDUZ
020629,000316: 26,2316 72405 DMP SL1 # RESCALE
020630,000317: 26,2317 00750 COSCDUX
020631,000318: 26,2320 34021 STCALL COSTH # (COSTH = 16D IN PD)
020632,000319: 26,2321 26506 ARCTAN
020633,000320: 26,2322 41325 PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
020634,000321: 26,2323 00740 SINCDUZ
020635,000322: 26,2324 00742 SINCDUX
020636,000323: 26,2325 41512 SL2 PUSH # SXSZ INTO 4 PD
020637,000324: 26,2326 65205 DMP PDDL # SXSZCY INTO 4 PD
020638,000325: 26,2327 00744 COSCDUY
020639,000326: 26,2330 65205 DMP PDDL # SXSZSY INTO 6 PD
020640,000327: 26,2331 00736 SINCDUY
020641,000328: 26,2332 00750 COSCDUX
020642,000329: 26,2333 72405 DMP SL1 # CXCY
020643,000330: 26,2334 00744 COSCDUY
020644,000331: 26,2335 45425 DSU STADR # PULL UP FROM 6 PD
020645,000332: 26,2336 63756 STODL COSTH # COSTH = CXCY - SXSZSY
020646,000333: 26,2337 00736 SINCDUY
020647,000334: 26,2340 72405 DMP SL1
020648,000335: 26,2341 00750 COSCDUX # CXSY
020649,000336: 26,2342 45415 DAD STADR # PULL UP FROM 4 PD
020650,000337: 26,2343 43754 STCALL SINTH # SINTH = CXSY + SXSZCY
020651,000338: 26,2344 26506 ARCTAN # RETURNS WITH D(MPAC) = PITCH
020652,000339: 26,2345 55525 PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2PD
020653,000340: 26,2346 77634 RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
020654,000341: 26,2347 21621 V1STO2S
020655,000342: 26,2350 02345 STORE FDAIX # MODE IS TP
020656,000343: 26,2351 77776 EXIT
020657,000344:
020658,000345: 26,2352 31337 ENDBALL CA BALLEXIT
020659,000346:
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Page 483
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020661,000348: 26,2353 04640 TC BANKJUMP
020662,000349:
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Page 484
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020664,000351: # PROGRAM DESCRIPTION - VECPOINT
020665,000352:
020666,000353: # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
020667,000354: # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
020668,000355: # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
020669,000356: # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
020670,000357: # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
020671,000358: # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
020672,000359: # ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
020673,000360: # IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020674,000361:
020675,000362: # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
020676,000363: # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
020677,000364: # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
020678,000365: # LOCK. IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR -X) AXIS,
020679,000366: # THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
020680,000367: # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
020681,000368: # STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020682,000369:
020683,000370: # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
020684,000371: # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
020685,000372: # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
020686,000373: # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
020687,000374:
020688,000375: # CALLING SEQUENCE -
020689,000376:
020690,000377: # 1) LOAD SCAXIS, POINTVSM
020691,000378: # 2) CALL
020692,000379: # VECPOINT
020693,000380:
020694,000381: # RETURNS WITH
020695,000382:
020696,000383: # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
020697,000384: # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
020698,000385: # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
020699,000386:
020700,000387: # ERASABLES USED -
020701,000388:
020702,000389: # 1) SCAXIS 6
020703,000390: # 2) POINTVSM 6
020704,000391: # 3) MIS 18
020705,000392: # 4) DEL 18
020706,000393: # 5) COF 6
020707,000394: # 6) VECQTEMP 1
020708,000395: # 7) ALL OF VAC AREA 43
020709,000396:
020710,000397: # TOTAL 99
020711,000398:
020712,000399: 27,2000 SETLOC VECPT
020713,000400: 27,2000 BANK
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Page 485
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020715,000402: 27,2032 COUNT* $$/VECPT
020716,000403:
020717,000404: 27,2032 E6,1675 EBANK= BCDU
020718,000405:
020719,000406: 27,2032 40020 VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS
020720,000407: 27,2033 03324 VECQTEMP # NOT PRESENT - ENTER WITH CDUD'S IN MPAC
020721,000408: 27,2034 56035 VECPNT2
020722,000409: 27,2035 52164 VECPNT2 AXC,2 GOTO
020723,000410: 27,2036 03245 MIS
020724,000411: 27,2037 56046 STORANG
020725,000412: 27,2040 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS
020726,000413: 27,2041 03324 VECQTEMP
020727,000414: 27,2042 56043 VECLEAR # AND CLEAR OVFIND
020728,000415: 27,2043 47164 VECLEAR AXC,2 RTB
020729,000416: 27,2044 03245 MIS # READ THE PRESENT CDU ANGLES AND
020730,000417: 27,2045 44403 READCDUK # STORE THEM IN PD25, 26, 27
020731,000418: 27,2046 34032 STORANG STCALL 25D
020732,000419: 27,2047 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
020733,000420: 27,2050 61375 VLOAD VXM
020734,000421: 27,2051 03773 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
020735,000422: 27,2052 03246 MIS # INITIAL S/C AXES (VF = POINTVSM)
020736,000423: 27,2053 77656 UNIT
020737,000424: 27,2054 00035 STORE 28D
020738,000425: # PD 28 29 30 31 32 33
020739,000426: 27,2055 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI
020740,000427: 27,2056 03765 SCAXIS # WHERE VI = SCAXIS
020741,000428: 27,2057 57400 BOV VCOMP
020742,000429: 27,2060 56170 PICKAXIS
020743,000430: 27,2061 17270 STODL COF # CHECK MAGNITUDE
020744,000431: 27,2062 00045 36D # OF CROSS PRODUCT
020745,000432: 27,2063 50025 DSU BMN # VECTOR, IF LESS
020746,000433: 27,2064 14415 DPB-14 # THAN B-14 ASSUME
020747,000434: 27,2065 56170 PICKAXIS # UNIT OPERATION
020748,000435: 27,2066 50375 VLOAD DOT # INVALID.
020749,000436: 27,2067 03765 SCAXIS
020750,000437: 27,2070 00035 28D
020751,000438: 27,2071 65552 SL1 ARCCOS
020752,000439: 27,2072 77624 COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
020753,000440: 27,2073 44527 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
020754,000441: 27,2074 75160 AXC,1 AXC,2
020755,000442: 27,2075 03245 MIS # COMPUTE THE TRANSFORMATION FROM FINAL
020756,000443: 27,2076 02230 KEL # S/C AXES TO STABLE MEMBER AXES
020757,000444: 27,2077 77624 CALL # MFS = MIS MFI
020758,000445: 27,2100 44312 MXM3 # (IN PD LIST)
020759,000446:
020760,000447: 27,2101 51545 DLOAD ABS
020761,000448: 27,2102 00007 6 # MFS6 = SIN(CPSI) $2
020762,000449: 27,2103 50025 DSU BMN
020763,000450: 27,2104 14402 SINGIMLC # = SIN(59 DEGS) $2
020764,000451: 27,2105 56160 FINDGIMB # /CPSI/ LESS THAN 59 DEGS
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020766,000453: # I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
020767,000454:
020768,000455: 27,2106 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
020769,000456: 27,2107 03765 SCAXIS # THE THRUST AXIS
020770,000457: 27,2110 51025 DSU BPL
020771,000458: 27,2111 14404 SINVEC1 # SIN 49.4 DEGS $2
020772,000459: 27,2112 56160 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
020773,000460: 27,2113 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
020774,000461: 27,2114 77626 STADR
020775,000462: 27,2115 50515 STOVL MIS +12D
020776,000463: 27,2116 77626 STADR # STORE MFS (IN PD LIST) IN MIS
020777,000464: 27,2117 50523 STOVL MIS +6
020778,000465: 27,2120 77626 STADR
020779,000466: 27,2121 50531 STOVL MIS
020780,000467: 27,2122 03254 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
020781,000468: 27,2123 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
020782,000469: 27,2124 56125 IGSAMEX # FINAL X S/C AXIS
020783,000470:
020784,000471: 27,2125 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
020785,000472: 27,2126 03765 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
020786,000473: 27,2127 56134 U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
020787,000474: # X SCAXIS . XF) LESS THAN 0, U = SCAXIS
020788,000475: # OTHERWISE U = -SCAXIS
020789,000476:
020790,000477: 27,2130 57575 VLOAD VCOMP
020791,000478: 27,2131 03765 SCAXIS
020792,000479: 27,2132 37270 STCALL COF # ROTATE ABOUT -SCAXIS
020793,000480: 27,2133 56137 CHEKAXIS
020794,000481: 27,2134 77775 U=SCAXIS VLOAD
020795,000482: 27,2135 03765 SCAXIS
020796,000483: 27,2136 03270 STORE COF # ROTATE ABOUT + SCAXIS
020797,000484: 27,2137 51545 CHEKAXIS DLOAD ABS
020798,000485: 27,2140 03765 SCAXIS # SEE IF WE ARE POINTING THE AOT
020799,000486: 27,2141 51025 DSU BPL
020800,000487: 27,2142 14406 SINVEC2 # SIN 29.5 DEGS $2
020801,000488: 27,2143 56147 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
020802,000489: 27,2144 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
020803,000490: 27,2145 14412 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
020804,000491: 27,2146 56151 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
020805,000492: # OF GIMBAL LOCK (VECANG2 $360)
020806,000493: 27,2147 77745 PICKANG1 DLOAD
020807,000494: 27,2150 14410 VECANG1 # = 50 DEGS $ 360
020808,000495: 27,2151 77624 COMPMFSN CALL
020809,000496: 27,2152 44527 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
020810,000497: 27,2153 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
020811,000498: 27,2154 03245 MIS
020812,000499: 27,2155 02230 KEL
020813,000500: 27,2156 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM
020814,000501: 27,2157 44312 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES
020815,000502: # WHICH WILL ALIGN VI WITH VF AND AVOID
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020817,000504: # GIMBAL LOCK
020818,000505: 27,2160 45160 FINDGIMB AXC,1 CALL
020819,000506: 27,2161 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM
020820,000507: 27,2162 44654 DCMTOCDU # THIS MATRIX
020821,000508: 27,2163 40234 RTB SETPD
020822,000509: 27,2164 21621 V1STO2S # CONVERT TO 2:S COMPLEMENT
020823,000510: 27,2165 00001 0
020824,000511: 27,2166 77650 GOTO
020825,000512: 27,2167 03324 VECQTEMP # RETURN TO CALLER
020826,000513:
020827,000514: 27,2170 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
020828,000515: 27,2171 00035 28D
020829,000516: 27,2172 03765 SCAXIS
020830,000517: 27,2173 72240 BMN TLOAD
020831,000518: 27,2174 54354 ROT180
020832,000519: 27,2175 00032 25D
020833,000520: 27,2176 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU
020834,000521: 27,2177 03324 VECQTEMP # PRESENT CDU ANGLES
020835,000522:
020836,000523: 35,2000 BANK 35
020837,000524: 26,2000 SETLOC MANUVER1
020838,000525: 26,2000 BANK
020839,000526: 26,2354 47375 ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 108 DEG ROTATION
020840,000527: 26,2355 03254 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
020841,000528: 26,2356 06522 HIDPHALF # INITIAL S/C AXES.
020842,000529: 26,2357 47256 UNIT VXV # FIND Y(SM) X X(I)
020843,000530: 26,2360 03765 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
020844,000531: 26,2361 40056 UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
020845,000532: 26,2362 54376 PICKX # Y(SM) PERPENDICULAR TO VI
020846,000533: 26,2363 17270 STODL COF
020847,000534: 26,2364 00045 36D # CHECK MAGNITUDE
020848,000535: 26,2365 50025 DSU BMN # OF THIS VECTOR.
020849,000536: 26,2366 14415 DPB-14 # IF LESS THAN B-14,
020850,000537: 26,2367 54376 PICKX # PICK X-AXIS.
020851,000538: 26,2370 77775 VLOAD
020852,000539: 26,2371 03270 COF
020853,000540: 26,2372 17270 XROT STODL COF
020854,000541: 26,2373 06522 HIDPHALF
020855,000542: 26,2374 77650 GOTO
020856,000543: 26,2375 56072 COMPMATX
020857,000544: 26,2376 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
020858,000545: 26,2377 06522 HIDPHALF
020859,000546: 26,2400 54372 XROT
020860,000547: 26,2401 15555 35172 SINGIMLC 2DEC .4285836003 # = SIN(59) $2
020861,000548: 26,2403 14113 36326 SINVEC1 2DEC .3796356537 # = SIN(49.4) $2
020862,000549: 26,2405 07701 35703 SINVEC2 2DEC .2462117800 # = SIN(29.5) $2
020863,000550: 26,2407 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360
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Page 488
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020865,000552: 26,2411 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360
020866,000553:
020867,000554: 26,2413 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
020868,000555: 26,2414 00001 DPB-14 OCT 00001
020869,000556: 26,2415 00000 OCT 00000
020870,000557:
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Page 489
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020872,000559: # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
020873,000560:
020874,000561: 34,2000 BANK 34
020875,000562: 23,2000 SETLOC R62
020876,000563: 23,2000 BANK
020877,000564: 23,2103 E6,1675 EBANK= BCDU
020878,000565:
020879,000566: 23,2103 COUNT* $$/R62
020880,000567:
020881,000568: 23,2103 23,2103 R62DISP EQUALS R62FLASH
020882,000569:
020883,000570: 23,2103 35010 R62FLASH CAF V06N22 # FLASH V06N22 AND
020884,000571: 23,2104 04616 TC BANKCALL # ICDU ANGLES
020885,000572: 23,2105 20477 CADR GOFLASH
020886,000573: 23,2106 15472 TCF ENDEXT # TERMINATE
020887,000574: 23,2107 12111 TCF GOMOVE # PROCEED
020888,000575: 23,2110 12103 TCF R62FLASH # ENTER
020889,000576:
020890,000577: # ASTRONAUT MAY LOAD NEW ICDUS AT THIS
020891,000578: # POINT
020892,000579: 23,2111 05504 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
020893,000580: 23,2112 00124 ADRES 3AXISFLG
020894,000581:
020895,000582: 23,2113 04616 TC BANKCALL
020896,000583: 23,2114 54123 CADR R60LEM
020897,000584: 23,2115 15472 TCF ENDEXT # END R62
020898,000585:
End of include-file R60,R62.agc. Parent file is MAIN.agc