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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014111,000002: ## Copyright: Public domain.
014112,000003: ## Filename: R63.agc
014113,000004: ## Purpose: A section of the reconstructed source code for Luminary 130.
014114,000005: ## This was the original program released for the Apollo 13 LM,
014115,000006: ## although several more revisions would follow. It has been
014116,000007: ## reconstructed from a listing of Luminary 131, from which it
014117,000008: ## differs on only two lines in P70-P71. The difference is
014118,000009: ## described in detail in Luminary memo #129, which was used
014119,000010: ## to perform the reconstruction. This file is intended to be a
014120,000011: ## faithful reconstruction, except that the code format has been
014121,000012: ## changed to conform to the requirements of the yaYUL assembler
014122,000013: ## rather than the original YUL assembler.
014123,000014: ## Reference: pp. 340-343
014124,000015: ## Contact: Ron Burkey <info@sandroid.org>.
014125,000016: ## Website: www.ibiblio.org/apollo/index.html
014126,000017: ## Mod history: 05/06/03 RSB. Began transcribing.
014127,000018: ## 05/14/05 RSB Corrected website reference above.
014128,000019: ## 2017-01-06 RSB Page numbers now agree with those on the
014129,000020: ## original hardcopy, as opposed to the PDF page
014130,000021: ## numbers in 1701.pdf.
014131,000022: ## 2017-01-26 RSB Back-ported a comment-text fix from Luminary 69.
014132,000023: ## 2017-02-23 RSB Proofed comment text using octopus/ProoferComments.
014133,000024: ## 2017-02-28 RSB Fixed lingering typos.
014134,000025: ## 2017-03-07 RSB Comment-text fixes noted in proofing Luminary 116.
014135,000026: ## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130.
014136,000027:
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Page 340
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014138,000029: # SUBROUTINE NAME: V89CALL
014139,000030: # MOD NO: 0 DATE: 9 JAN 1968
014140,000031: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION: R63
014141,000032:
014142,000033: # FUNCTIONAL DESCRIPTION:
014143,000034:
014144,000035: # CALLED BY VERB 89 ENTER DURING P00. PRIO 10 USED. CALCULATES AND
014145,000036: # DISPLAYS FINAL FDAI BALL ANGLES TO POINT LM +X OR +Z AXIS AT CSM.
014146,000037:
014147,000038: # 1. KEY IN V 89 E ONLY IF IN PROG 00. IF NOT IN P00, OPERATOR ERROR AND
014148,000039: # EXIT R63, OTHERWISE CONTINUE.
014149,000040:
014150,000041: # 2. IF IN P00, DO IMU STATUS CHECK ROUTINE (R02BOTH). IF IMU ON AND ITS
014151,000042: # ORIENTATION KNOWN TO LGC, CONTINUE.
014152,000043:
014153,000044: # 3. FLASH DISPLAY V 04 N 06. R2 INDICATES WHICH SPACECRAFT AXIS IS TO
014154,000045: # BE POINTED AT CSM. INITIAL CHOICE IS PREFERRED (+Z) AXIS (R2=1).
014155,000046: # ASTRONAUT CAN CHANGE TO (+X) AXIS (R2 NOT =1) BY V 22 E 2 E. CONTINUE
014156,000047: # AFTER KEYING IN PROCEED.
014157,000048:
014158,000049: # 4. BOTH VEHICLE STATE VECTORS UPDATED BY CONIC EQS.
014159,000050:
014160,000051: # 5. HALF MAGNITUDE UNIT LOS VECTOR (IN STABLE MEMBER COORDINATES) AND
014161,000052: # HALF MAGNITUDE UNIT SPACECRAFT AXIS VECTOR (IN BODY COORDINATES)
014162,000053: # PREPARED FOR VECPOINT.
014163,000054:
014164,000055: # 6. GIMBAL ANGLES FROM VECPOINT TRANSFORMED INTO FDAI BALL ANGLES BY
014165,000056: # BALLANGS. FLASH DISPLAY V 06 N 18 AND AWAIT RESPONSE.
014166,000057:
014167,000058: # 7. RECYCLE - RETURN TO STEP 4.
014168,000059: # TERMINATE - EXIT R63.
014169,000060: # PROCEED - RESET 3AXISFLG AND CALL R60LEM FOR ATTITUDE MANEUVER.
014170,000061:
014171,000062: # CALLING SEQUENCE: V 89 E.
014172,000063:
014173,000064: # SUBROUTINES CALLED: CHKPOOH, R02BOTH, GOXDSPF, CSMCONIC, LEMCONIC,
014174,000065: # VECPOINT, BALLANGS, R60LEM.
014175,000066:
014176,000067: # NORMAL EXIT MODES: TC ENDEXT
014177,000068:
014178,000069: # ALARMS: 1. OPERATOR ERROR IF NOT IN P00.
014179,000070: # 2. PROGRAM ALARM IF IMU IS OFF.
014180,000071: # 3. PROGRAM ALARM IF IMU ORIENTATION IS UNKNOWN.
014181,000072:
014182,000073: # OUTPUT: NONE
014183,000074:
014184,000075: # ERASABLE INITIALIZATION REQUIRED: NONE
014185,000076:
014186,000077: # DEBRIS: OPTION1, +1, TDEC1, POINTVSM, SCAXIS, CPHI, CTHETA, CPSI,
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Page 341
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014188,000079: # 3AXISFLG.
014189,000080:
014190,000081: 06,3723 E4,1606 EBANK= RONE
014191,000082: 32,2217 BANK 32
014192,000083: 26,2000 SETLOC BAWLANGS
014193,000084: 26,2000 BANK
014194,000085:
014195,000086: 26,2022 COUNT* $$/R63
014196,000087: 26,2022 04616 V89CALL TC BANKCALL # IMU STATUS CHECK. RETURNS IF ORIENTATION
014197,000088: 26,2023 11233 CADR R02BOTH # KNOWN. ALARMS IF NOT.
014198,000089: 26,2024 36250 CAF THREE # ALLOW ASTRONAUT TO SELECT DESIRED
014199,000090: 26,2025 55050 TS OPTIONX # TRACKING ATTITUDE AXIS.
014200,000091: 26,2026 34753 CAF ONE
014201,000092: 26,2027 55051 TS OPTIONX +1
014202,000093: 26,2030 32117 CAF VB04N12 # V 04 N 12
014203,000094: 26,2031 04616 TC BANKCALL
014204,000095: 26,2032 20477 CADR GOFLASH
014205,000096: 26,2033 05472 TC ENDEXT # TERMINATE
014206,000097: 26,2034 02036 TC +2 # PROCEED
014207,000098: 26,2035 02030 TC -5 # DATA IN. OPTION1+1 = 1 FOR Z AXIS
014208,000099: 26,2036 06042 V89RECL TC INTPRET # = 2 FOR X AXIS
014209,000100: 26,2037 43234 RTB DAD
014210,000101: 26,2040 21574 LOADTIME # READ PRESENT TIME
014211,000102: 26,2041 14122 DP1MIN
014212,000103: 26,2042 02205 STORE TSTART82 # SAVE TIME FOR LEMCONIC CALL
014213,000104: 26,2043 34041 STCALL TDEC1 # STORE TIME FOR CSMCONIC CALL
014214,000105: 26,2044 27065 CSMCONIC # CSM STATE VECTOR UPDATE
014215,000106: 26,2045 77775 VLOAD # CSMCONIC LEFT R VECTOR IN RATT
014216,000107: 26,2046 00001 RATT
014217,000108: 26,2047 16207 STODL RONE # SAVE FOR LINE OF SIGHT (LOS) COMPUTATION
014218,000109: 26,2050 02205 TSTART82
014219,000110: 26,2051 34041 STCALL TDEC1 # STORE TIME FOR LEMCONIC CALL
014220,000111: 26,2052 27077 LEMCONIC # LEM STATE VECTOR UPDATE
014221,000112: 26,2053 52375 VLOAD VSU # CSM POSITION - LEM POSITION = LOS
014222,000113: 26,2054 02207 RONE # LOS VECTOR LEFT IN MPAC
014223,000114: 26,2055 00001 RATT
014224,000115: 26,2056 47121 MXV RTB # (REFSMMAT X LOS). TRANSFORMS LOS FROM
014225,000116: 26,2057 01734 REFSMMAT # REFERENCE COORD TO STAB MEMB COORD.
014226,000117: 26,2060 21727 NORMUNIT
014227,000118: 26,2061 03773 STORE POINTVSM # STORE LOS FOR VECPOINT CALL
014228,000119: 26,2062 77776 EXIT
014229,000120: 26,2063 41051 CS OPTIONX +1 # 1 FOR Z AXIS. 2 FOR X AXIS.
014230,000121: 26,2064 64753 AD ONE
014231,000122: 26,2065 00006 EXTEND
014232,000123: 26,2066 12113 BZF ALINEZ
014233,000124: 26,2067 06042 ALINEX TC INTPRET # X AXIS ALIGNMENT
014234,000125: 26,2070 77775 VLOAD
014235,000126: 26,2071 06522 UNITX # READ (.5, 0, 0)
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014237,000128: 26,2072 37765 V89CALL1 STCALL SCAXIS # STORE SELECTED ALIGNMENT AXIS
014238,000129: 26,2073 56040 VECPOINT # PUTS DESIRED GIM ANG (OG,IG,MG) IN TMPAC
014239,000130: 26,2074 00322 STORE CPHI # STORE GIMBAL ANGLES FOR BALLANGS CALL.
014240,000131: 26,2075 77776 EXIT
014241,000132: 26,2076 04616 TC BANKCALL
014242,000133: 26,2077 54272 CADR BALLANGS # PUTS DESIRED BALL ANGLES IN FDAIX,Y,Z
014243,000134: 26,2100 32120 CAF VB06N18 # V 06 N 18
014244,000135: 26,2101 04616 TC BANKCALL # NOUN 18 REFERS TO FDAIX,Y,Z
014245,000136: 26,2102 20477 CADR GOFLASH
014246,000137: 26,2103 05472 TC ENDEXT # TERMINATE
014247,000138: 26,2104 02106 TC +2 # PROCEED
014248,000139: 26,2105 02036 TC V89RECL # RECYCLE
014249,000140: 26,2106 05516 TC DOWNFLAG # RESET 3 AXIS FLAG
014250,000141: 26,2107 00124 ADRES 3AXISFLG # RESET BIT6 FLAG WORD 5
014251,000142: 26,2110 04616 TC BANKCALL # PERFORMS LEM MANEUVER TO ALIGN SELECTED
014252,000143: 26,2111 54123 CADR R60LEM # SPACECRAFT AXIS TO CSM.
014253,000144: 26,2112 15472 TCF ENDEXT # TERMINATE R63
014254,000145:
014255,000146: 26,2113 06042 ALINEZ TC INTPRET # Z AXIS ALIGNMENT
014256,000147: 26,2114 52175 VLOAD GOTO
014257,000148: 26,2115 06516 UNITZ # READ (0, 0, .5)
014258,000149: 26,2116 54072 V89CALL1
014259,000150:
014260,000151: 26,2117 01014 VB04N12 VN 412
014261,000152: 26,2120 01422 VB06N18 VN 0618
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014263,000154: 26,2121 00000 13560 DP1MIN 2DEC 6000 B-28
014264,000155:
End of include-file R63.agc. Parent file is MAIN.agc