Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note 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 derive from a printout of Luminary 210 (Apollo 15-17
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Jim Lawton, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note that the date is the date of the printout, not the date of the program revision. |
015191,000002: ## Copyright: Public domain.
015192,000003: ## Filename: R63.agc
015193,000004: ## Purpose: A section of Luminary revision 210.
015194,000005: ## It is part of the source code for the Lunar Module's (LM)
015195,000006: ## Apollo Guidance Computer (AGC) for Apollo 15-17.
015196,000007: ## This file is intended to be a faithful transcription, except
015197,000008: ## that the code format has been changed to conform to the
015198,000009: ## requirements of the yaYUL assembler rather than the
015199,000010: ## original YUL assembler.
015200,000011: ## Reference: pp. 350-353
015201,000012: ## Assembler: yaYUL
015202,000013: ## Contact: Ron Burkey <info@sandroid.org>.
015203,000014: ## Website: www.ibiblio.org/apollo/index.html
015204,000015: ## Mod history: 2016-11-17 JL Created from Luminary131 version.
015205,000016: ## 2016-11-24 HG Transcribed
015206,000017: ## 2016-12-07 HG Fix P00 -> POO (appears only in comments)
015207,000018: ## revert above changes
015208,000019: ## 2016-12-23 RSB Proofed comment text with octopus/ProoferComments
015209,000020: ## and fixed all errors found.
015210,000021:
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Page 350 |
015212,000023: # SUBROUTINE NAME: V89CALL
015213,000024: # MOD NO: 0 DATE: 9 JAN 1968
015214,000025: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION: R63
015215,000026:
015216,000027: # FUNCTIONAL DESCRIPTION:
015217,000028:
015218,000029: # CALLED BY VERB 89 ENTER DURING P00. PRIO 10 USED. CALCULATES AND
015219,000030: # DISPLAYS FINAL FDAI BALL ANGLES TO POINT LM +X OR +Z AXIS AT CSM.
015220,000031:
015221,000032: # 1. KEY IN V 89 E ONLY IF IN PROG 00. IF NOT IN P00, OPERATOR ERROR AND
015222,000033: # EXIT R63, OTHERWISE CONTINUE.
015223,000034:
015224,000035: # 2. IF IN P00, DO IMU STATUS CHECK ROUTINE (R02BOTH). IF IMU ON AND ITS
015225,000036: # ORIENTATION KNOWN TO LGC, CONTINUE.
015226,000037:
015227,000038: # 3. FLASH DISPLAY V 04 N 06. R2 INDICATES WHICH SPACECRAFT AXIS IS TO
015228,000039: # BE POINTED AT CSM. INITIAL CHOICE IS PREFERRED (+Z) AXIS (R2=1).
015229,000040: # ASTRONAUT CAN CHANGE TO (+X) AXIS (R2 NOT = 1) BY V 22 E 2 E. CONTINUE
015230,000041: # AFTER KEYING IN PROCEED.
015231,000042:
015232,000043: # 4. BOTH VEHICLE STATE VECTORS UPDATED BY CONIC EQS.
015233,000044:
015234,000045: # 5. HALF MAGNITUDE UNIT LOS VECTOR (IN STABLE MEMBER COORDINATES) AND
015235,000046: # HALF MAGNITUDE UNIT SPACECRAFT AXIS VECTOR (IN BODY COORDINATES)
015236,000047: # PREPARED FOR VECPOINT.
015237,000048:
015238,000049: # 6. GIMBAL ANGLES FROM VECPOINT TRANSFORMED INTO FDAI BALL ANGLES BY
015239,000050: # BALLANGS. FLASH DISPLAY V 06 N 18 AND AWAIT RESPONSE.
015240,000051:
015241,000052: # 7. RECYCLE - RETURN TO STEP 4.
015242,000053: # TERMINATE - EXIT R63.
015243,000054: # PROCEED - RESET 3AXISFLG AND CALL R60LEM FOR ATTITUDE MANEUVER.
015244,000055:
015245,000056:
015246,000057: # CALLING SEQUENCE: V 89 E.
015247,000058:
015248,000059: # SUBROUTINES CALLED: CHKPOOH, R02BOTH, GOXDSPF, CSMCONIC, LEMCONIC,
015249,000060: # VECPOINT, BALLANGS, R60LEM.
015250,000061:
015251,000062: # NORMAL EXIT MODES: TC ENDEXT
015252,000063:
015253,000064: # ALARMS: 1. OPERATOR ERROR IF NOT IN P00.
015254,000065: # 2. PROGRAM ALARM IF IMU IS OFF.
015255,000066: # 3. PROGRAM ALARM IF IMU ORIENTATION IS UNKNOWN.
015256,000067:
015257,000068: # OUTPUT: NONE
015258,000069:
015259,000070: # ERASABLE INITIALIZATION REQUIRED: NONE
015260,000071:
015261,000072: # DEBRIS: OPTION1, +1, TDEC1, POINTVSM, SCAXIS, CPHI, CTHETA, CPSI,
015262,000073:
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Page 351 |
015264,000075: # 3AXISFLG.
015265,000076:
015266,000077: 06,3765 E4,1577 EBANK= RONE
015267,000078: 32,2213 BANK 32
015268,000079: 26,2000 SETLOC BAWLANGS
015269,000080: 26,2000 BANK
015270,000081:
015271,000082:
015272,000083: 26,2024 COUNT* $$/R63
015273,000084: 26,2024 04607 V89CALL TC BANKCALL # IMU STATUS CHECK. RETURNS IF ORIENTATION
015274,000085: 26,2025 33757 CADR R02BOTH # KNOWN. ALARMS IF NOT.
015275,000086: 26,2026 36266 CAF THREE # ALLOW ASTRONAUT TO SELECT DESIRED
015276,000087: 26,2027 55050 TS OPTIONX # TRACKING ATTITUDE AXIS.
015277,000088: 26,2030 34744 CAF ONE
015278,000089: 26,2031 55051 TS OPTIONX +1
015279,000090: 26,2032 32121 CAF VB04N12 # V 04 N 12
015280,000091: 26,2033 04607 TC BANKCALL
015281,000092: 26,2034 20471 CADR GOFLASH
015282,000093: 26,2035 05474 TC ENDEXT # TERMINATE
015283,000094: 26,2036 02040 TC +2 # PROCEED
015284,000095: 26,2037 02032 TC -5 # DATA IN. OPTION1+1 = 1 FOR Z AXIS
015285,000096: 26,2040 06060 V89RECL TC INTPRET # = 2 FOR X AXIS
015286,000097: 26,2041 43234 RTB DAD
015287,000098: 26,2042 21603 LOADTIME # READ PRESENT TIME
015288,000099: 26,2043 14124 DP1MIN
015289,000100: 26,2044 02176 STORE TSTART82 # SAVE TIME FOR LEMCONIC CALL
015290,000101: 26,2045 34041 STCALL TDEC1 # STORE TIME FOR CSMCONIC CALL
015291,000102: 26,2046 27124 CSMCONIC # CSM STATE VECTOR UPDATE
015292,000103: 26,2047 77775 VLOAD # CSMCONIC LEFT R VECTOR IN RATT
015293,000104: 26,2050 00001 RATT
015294,000105: 26,2051 16200 STODL RONE # SAVE FOR LINE OF SIGHT (LOS) COMPUTATION
015295,000106: 26,2052 02176 TSTART82
015296,000107: 26,2053 34041 STCALL TDEC1 # STORE TIME FOR LEMCONIC CALL
015297,000108: 26,2054 27136 LEMCONIC # LEM STATE VECTOR UPDATE
015298,000109: 26,2055 52375 VLOAD VSU # CSM POSITION - LEM POSITION = LOS
015299,000110: 26,2056 02200 RONE # LOS VECTOR LEFT IN MPAC
015300,000111: 26,2057 00001 RATT
015301,000112: 26,2060 47121 MXV RTB # (REFSMMAT X LOS). TRANSFORMS LOS FROM
015302,000113: 26,2061 01732 REFSMMAT # REFERENCE COORD TO STAB MEMB COORD.
015303,000114: 26,2062 21724 NORMUNIT
015304,000115: 26,2063 03773 STORE POINTVSM # STORE LOS FOR VECPOINT CALL
015305,000116: 26,2064 77776 EXIT
015306,000117: 26,2065 41051 CS OPTIONX +1 # 1 FOR Z AXIS. 2 FOR X AXIS.
015307,000118: 26,2066 64744 AD ONE
015308,000119: 26,2067 00006 EXTEND
015309,000120: 26,2070 12115 BZF ALINEZ
015310,000121: 26,2071 06060 ALINEX TC INTPRET # X AXIS ALIGNMENT
015311,000122: 26,2072 77775 VLOAD
015312,000123: 26,2073 06503 UNITX # READ (.5, 0, 0)
015313,000124:
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Page 352 |
015315,000126: 26,2074 37765 V89CALL1 STCALL SCAXIS # STORE SELECTED ALIGNMENT AXIS
015316,000127: 26,2075 56040 VECPOINT # PUTS DESIRED GIM ANG (OG,IG,MG) IN TMPAC
015317,000128: 26,2076 00322 STORE CPHI # STORE GIMBAL ANGLES FOR BALLANGS CALL.
015318,000129: 26,2077 77776 EXIT
015319,000130: 26,2100 04607 TC BANKCALL
015320,000131: 26,2101 54300 CADR BALLANGS # PUTS DESIRED BALL ANGLES IN FDAIX,Y,Z
015321,000132: 26,2102 32122 CAF VB06N18 # V 06 N 18
015322,000133: 26,2103 04607 TC BANKCALL # NOUN 18 REFERS TO FDAIX,Y,Z
015323,000134: 26,2104 20471 CADR GOFLASH
015324,000135: 26,2105 05474 TC ENDEXT # TERMINATE
015325,000136: 26,2106 02110 TC +2 # PROCEED
015326,000137: 26,2107 02040 TC V89RECL # RECYCLE
015327,000138: 26,2110 05520 TC DOWNFLAG # RESET 3 AXIS FLAG
015328,000139: 26,2111 00124 ADRES 3AXISFLG # RESET BIT6 FLAG WORD 5
015329,000140: 26,2112 04607 TC BANKCALL # PERFORMS LEM MANEUVER TO ALIGN SELECTED
015330,000141: 26,2113 54125 CADR R60LEM # SPACECRAFT AXIS TO CSM.
015331,000142: 26,2114 15474 TCF ENDEXT # TERMINATE R63
015332,000143:
015333,000144:
015334,000145: 26,2115 06060 ALINEZ TC INTPRET # Z AXIS ALIGNMENT
015335,000146: 26,2116 52175 VLOAD GOTO
015336,000147: 26,2117 06477 UNITZ # READ (0, 0, .5)
015337,000148: 26,2120 54074 V89CALL1
015338,000149:
015339,000150:
015340,000151: 26,2121 01014 VB04N12 VN 412
015341,000152: 26,2122 01422 VB06N18 VN 0618
015342,000153:
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Page 353 |
015344,000155: 26,2123 00000 13560 DP1MIN 2DEC 6000 B-28
End of include-file R63.agc. Parent file is MAIN.agc