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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014098,000002: ## Copyright: Public domain.
014099,000003: ## Filename: R63.agc
014100,000004: ## Purpose: A section of the reconstructed source code for Luminary 130.
014101,000005: ## This was the original program released for the Apollo 13 LM,
014102,000006: ## although several more revisions would follow. It has been
014103,000007: ## reconstructed from a listing of Luminary 131, from which it
014104,000008: ## differs on only two lines in P70-P71. The difference is
014105,000009: ## described in detail in Luminary memo #129, which was used
014106,000010: ## to perform the reconstruction. This file is intended to be a
014107,000011: ## faithful reconstruction, except that the code format has been
014108,000012: ## changed to conform to the requirements of the yaYUL assembler
014109,000013: ## rather than the original YUL assembler.
014110,000014: ## Reference: pp. 340-343
014111,000015: ## Contact: Ron Burkey <info@sandroid.org>.
014112,000016: ## Website: www.ibiblio.org/apollo/index.html
014113,000017: ## Mod history: 05/06/03 RSB. Began transcribing.
014114,000018: ## 05/14/05 RSB Corrected website reference above.
014115,000019: ## 2017-01-06 RSB Page numbers now agree with those on the
014116,000020: ## original hardcopy, as opposed to the PDF page
014117,000021: ## numbers in 1701.pdf.
014118,000022: ## 2017-01-26 RSB Back-ported a comment-text fix from Luminary 69.
014119,000023: ## 2017-02-23 RSB Proofed comment text using octopus/ProoferComments.
014120,000024: ## 2017-02-28 RSB Fixed lingering typos.
014121,000025: ## 2017-03-07 RSB Comment-text fixes noted in proofing Luminary 116.
014122,000026: ## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130.
014123,000027:
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Page 340
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014125,000029: # SUBROUTINE NAME: V89CALL
014126,000030: # MOD NO: 0 DATE: 9 JAN 1968
014127,000031: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION: R63
014128,000032:
014129,000033: # FUNCTIONAL DESCRIPTION:
014130,000034:
014131,000035: # CALLED BY VERB 89 ENTER DURING P00. PRIO 10 USED. CALCULATES AND
014132,000036: # DISPLAYS FINAL FDAI BALL ANGLES TO POINT LM +X OR +Z AXIS AT CSM.
014133,000037:
014134,000038: # 1. KEY IN V 89 E ONLY IF IN PROG 00. IF NOT IN P00, OPERATOR ERROR AND
014135,000039: # EXIT R63, OTHERWISE CONTINUE.
014136,000040:
014137,000041: # 2. IF IN P00, DO IMU STATUS CHECK ROUTINE (R02BOTH). IF IMU ON AND ITS
014138,000042: # ORIENTATION KNOWN TO LGC, CONTINUE.
014139,000043:
014140,000044: # 3. FLASH DISPLAY V 04 N 06. R2 INDICATES WHICH SPACECRAFT AXIS IS TO
014141,000045: # BE POINTED AT CSM. INITIAL CHOICE IS PREFERRED (+Z) AXIS (R2=1).
014142,000046: # ASTRONAUT CAN CHANGE TO (+X) AXIS (R2 NOT =1) BY V 22 E 2 E. CONTINUE
014143,000047: # AFTER KEYING IN PROCEED.
014144,000048:
014145,000049: # 4. BOTH VEHICLE STATE VECTORS UPDATED BY CONIC EQS.
014146,000050:
014147,000051: # 5. HALF MAGNITUDE UNIT LOS VECTOR (IN STABLE MEMBER COORDINATES) AND
014148,000052: # HALF MAGNITUDE UNIT SPACECRAFT AXIS VECTOR (IN BODY COORDINATES)
014149,000053: # PREPARED FOR VECPOINT.
014150,000054:
014151,000055: # 6. GIMBAL ANGLES FROM VECPOINT TRANSFORMED INTO FDAI BALL ANGLES BY
014152,000056: # BALLANGS. FLASH DISPLAY V 06 N 18 AND AWAIT RESPONSE.
014153,000057:
014154,000058: # 7. RECYCLE - RETURN TO STEP 4.
014155,000059: # TERMINATE - EXIT R63.
014156,000060: # PROCEED - RESET 3AXISFLG AND CALL R60LEM FOR ATTITUDE MANEUVER.
014157,000061:
014158,000062: # CALLING SEQUENCE: V 89 E.
014159,000063:
014160,000064: # SUBROUTINES CALLED: CHKPOOH, R02BOTH, GOXDSPF, CSMCONIC, LEMCONIC,
014161,000065: # VECPOINT, BALLANGS, R60LEM.
014162,000066:
014163,000067: # NORMAL EXIT MODES: TC ENDEXT
014164,000068:
014165,000069: # ALARMS: 1. OPERATOR ERROR IF NOT IN P00.
014166,000070: # 2. PROGRAM ALARM IF IMU IS OFF.
014167,000071: # 3. PROGRAM ALARM IF IMU ORIENTATION IS UNKNOWN.
014168,000072:
014169,000073: # OUTPUT: NONE
014170,000074:
014171,000075: # ERASABLE INITIALIZATION REQUIRED: NONE
014172,000076:
014173,000077: # DEBRIS: OPTION1, +1, TDEC1, POINTVSM, SCAXIS, CPHI, CTHETA, CPSI,
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Page 341
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014175,000079: # 3AXISFLG.
014176,000080:
014177,000081: 06,3723 E4,1606 EBANK= RONE
014178,000082: 32,2217 BANK 32
014179,000083: 26,2000 SETLOC BAWLANGS
014180,000084: 26,2000 BANK
014181,000085:
014182,000086: 26,2022 COUNT* $$/R63
014183,000087: 26,2022 04616 V89CALL TC BANKCALL # IMU STATUS CHECK. RETURNS IF ORIENTATION
014184,000088: 26,2023 11233 CADR R02BOTH # KNOWN. ALARMS IF NOT.
014185,000089: 26,2024 36250 CAF THREE # ALLOW ASTRONAUT TO SELECT DESIRED
014186,000090: 26,2025 55050 TS OPTIONX # TRACKING ATTITUDE AXIS.
014187,000091: 26,2026 34753 CAF ONE
014188,000092: 26,2027 55051 TS OPTIONX +1
014189,000093: 26,2030 32117 CAF VB04N12 # V 04 N 12
014190,000094: 26,2031 04616 TC BANKCALL
014191,000095: 26,2032 20477 CADR GOFLASH
014192,000096: 26,2033 05472 TC ENDEXT # TERMINATE
014193,000097: 26,2034 02036 TC +2 # PROCEED
014194,000098: 26,2035 02030 TC -5 # DATA IN. OPTION1+1 = 1 FOR Z AXIS
014195,000099: 26,2036 06042 V89RECL TC INTPRET # = 2 FOR X AXIS
014196,000100: 26,2037 43234 RTB DAD
014197,000101: 26,2040 21574 LOADTIME # READ PRESENT TIME
014198,000102: 26,2041 14122 DP1MIN
014199,000103: 26,2042 02205 STORE TSTART82 # SAVE TIME FOR LEMCONIC CALL
014200,000104: 26,2043 34041 STCALL TDEC1 # STORE TIME FOR CSMCONIC CALL
014201,000105: 26,2044 27065 CSMCONIC # CSM STATE VECTOR UPDATE
014202,000106: 26,2045 77775 VLOAD # CSMCONIC LEFT R VECTOR IN RATT
014203,000107: 26,2046 00001 RATT
014204,000108: 26,2047 16207 STODL RONE # SAVE FOR LINE OF SIGHT (LOS) COMPUTATION
014205,000109: 26,2050 02205 TSTART82
014206,000110: 26,2051 34041 STCALL TDEC1 # STORE TIME FOR LEMCONIC CALL
014207,000111: 26,2052 27077 LEMCONIC # LEM STATE VECTOR UPDATE
014208,000112: 26,2053 52375 VLOAD VSU # CSM POSITION - LEM POSITION = LOS
014209,000113: 26,2054 02207 RONE # LOS VECTOR LEFT IN MPAC
014210,000114: 26,2055 00001 RATT
014211,000115: 26,2056 47121 MXV RTB # (REFSMMAT X LOS). TRANSFORMS LOS FROM
014212,000116: 26,2057 01734 REFSMMAT # REFERENCE COORD TO STAB MEMB COORD.
014213,000117: 26,2060 21727 NORMUNIT
014214,000118: 26,2061 03773 STORE POINTVSM # STORE LOS FOR VECPOINT CALL
014215,000119: 26,2062 77776 EXIT
014216,000120: 26,2063 41051 CS OPTIONX +1 # 1 FOR Z AXIS. 2 FOR X AXIS.
014217,000121: 26,2064 64753 AD ONE
014218,000122: 26,2065 00006 EXTEND
014219,000123: 26,2066 12113 BZF ALINEZ
014220,000124: 26,2067 06042 ALINEX TC INTPRET # X AXIS ALIGNMENT
014221,000125: 26,2070 77775 VLOAD
014222,000126: 26,2071 06522 UNITX # READ (.5, 0, 0)
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014224,000128: 26,2072 37765 V89CALL1 STCALL SCAXIS # STORE SELECTED ALIGNMENT AXIS
014225,000129: 26,2073 56040 VECPOINT # PUTS DESIRED GIM ANG (OG,IG,MG) IN TMPAC
014226,000130: 26,2074 00322 STORE CPHI # STORE GIMBAL ANGLES FOR BALLANGS CALL.
014227,000131: 26,2075 77776 EXIT
014228,000132: 26,2076 04616 TC BANKCALL
014229,000133: 26,2077 54272 CADR BALLANGS # PUTS DESIRED BALL ANGLES IN FDAIX,Y,Z
014230,000134: 26,2100 32120 CAF VB06N18 # V 06 N 18
014231,000135: 26,2101 04616 TC BANKCALL # NOUN 18 REFERS TO FDAIX,Y,Z
014232,000136: 26,2102 20477 CADR GOFLASH
014233,000137: 26,2103 05472 TC ENDEXT # TERMINATE
014234,000138: 26,2104 02106 TC +2 # PROCEED
014235,000139: 26,2105 02036 TC V89RECL # RECYCLE
014236,000140: 26,2106 05516 TC DOWNFLAG # RESET 3 AXIS FLAG
014237,000141: 26,2107 00124 ADRES 3AXISFLG # RESET BIT6 FLAG WORD 5
014238,000142: 26,2110 04616 TC BANKCALL # PERFORMS LEM MANEUVER TO ALIGN SELECTED
014239,000143: 26,2111 54123 CADR R60LEM # SPACECRAFT AXIS TO CSM.
014240,000144: 26,2112 15472 TCF ENDEXT # TERMINATE R63
014241,000145:
014242,000146: 26,2113 06042 ALINEZ TC INTPRET # Z AXIS ALIGNMENT
014243,000147: 26,2114 52175 VLOAD GOTO
014244,000148: 26,2115 06516 UNITZ # READ (0, 0, .5)
014245,000149: 26,2116 54072 V89CALL1
014246,000150:
014247,000151: 26,2117 01014 VB04N12 VN 412
014248,000152: 26,2120 01422 VB06N18 VN 0618
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014250,000154: 26,2121 00000 13560 DP1MIN 2DEC 6000 B-28
014251,000155:
End of include-file R63.agc. Parent file is MAIN.agc