Source Code
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These source-code files are part of a reconstructed copy of Luminary 163, the
first (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with reconstructed source code for Luminary 173. Changes
between revision 163 and 173 were backed out, as described by Luminary memos 157
and 158. The reconstruction was verified by matching memory-bank checksums
to those listed in drawing 2021152N. Note that page numbers in the reconstructed
code match those for the baseline log section mentioned in each file's changelog;
the page numbers for a real Luminary 163 listing would be different.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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013921,000002: ## Copyright: Public domain.
013922,000003: ## Filename: LEM_GEOMETRY.agc
013923,000004: ## Purpose: A section of Luminary revision 163.
013924,000005: ## It is part of the reconstructed source code for the first
013925,000006: ## (unflown) release of the flight software for the Lunar
013926,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
013927,000008: ## The code has been recreated from a reconstructed copy of
013928,000009: ## Luminary 173, as well as Luminary memos 157 amd 158.
013929,000010: ## It has been adapted such that the resulting bugger words
013930,000011: ## exactly match those specified for Luminary 163 in NASA
013931,000012: ## drawing 2021152N, which gives relatively high confidence
013932,000013: ## that the reconstruction is correct.
013933,000014: ## Reference: pp. 325-330
013934,000015: ## Assembler: yaYUL
013935,000016: ## Contact: Ron Burkey <info@sandroid.org>.
013936,000017: ## Website: www.ibiblio.org/apollo/index.html
013937,000018: ## Mod history: 2019-08-21 MAS Created from Luminary 173.
013938,000019:
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Page 332
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013940,000021: 23,2041 BANK 23
013941,000022: 13,2000 SETLOC LEMGEOM
013942,000023: 13,2000 BANK
013943,000024:
013944,000025: 13,2070 30,2000 SBANK= LOWSUPER
013945,000026: 13,2070 E5,1642 EBANK= XSM
013946,000027:
013947,000028: # THESE TWO ROUTINES COMPUTE THE ACTUAL STATE VECTOR FOR LM,CSM BY ADDING
013948,000029: # THE CONIC R,V AND THE DEVIATIONSR,V. THE STATE VECTORS ARE CONVERTED TO
013949,000030: # METERS B-29 AND METERS/CSEC B-7 AND STORED APPROPRIATELY IN RN,VN OR
013950,000031: # R-OTHER , V-OTHER FOR DOWNLINK. THE ROUTINES NAMES ARE SWITCHED IN THE
013951,000032: # OTHER VEHICLES COMPUTER.
013952,000033:
013953,000034: # INPUT
013954,000035: # STATE VECTOR IN TEMPORARY STORAGE AREA
013955,000036: # IF STATE VECTOR IS SCALED POS B27 AND VEL B5
013956,000037: # SET X2 TO +2
013957,000038: # IF STATE VECTOR IS SCALED POS B29 AND VEL B7
013958,000039: # SET X2 TO 0
013959,000040:
013960,000041: # OUTPUT
013961,000042: # R(T) IN RN, V(T) IN VN, T IN PIPTIME
013962,000043: # OR
013963,000044: # R(T) IN R-OTHER, V(T) IN V-OTHER (T IS DEFINED BY T-OTHER)
013964,000045:
013965,000046: 13,2070 COUNT* $$/GEOM
013966,000047: 13,2070 43414 SVDWN2 BOF RVQ # SW=1=AVETOMID DOING W-MATRIX INTEG.
013967,000048: 13,2071 04756 AVEMIDSW
013968,000049: 13,2072 26073 +1
013969,000050: 13,2073 53775 VLOAD VSL*
013970,000051: 13,2074 01521 TDELTAV
013971,000052: 13,2075 57605 0 -7,2
013972,000053: 13,2076 53655 VAD VSL*
013973,000054: 13,2077 01535 RCV
013974,000055: 13,2100 57576 0,2
013975,000056: 13,2101 25220 STOVL RN
013976,000057: 13,2102 01527 TNUV
013977,000058: 13,2103 53257 VSL* VAD
013978,000059: 13,2104 57602 0 -4,2
013979,000060: 13,2105 01543 VCV
013980,000061: 13,2106 77657 VSL*
013981,000062: 13,2107 57576 0,2
013982,000063: 13,2110 15226 STODL VN
013983,000064: 13,2111 01517 TET
013984,000065: 13,2112 01234 STORE PIPTIME
013985,000066: 13,2113 77616 RVQ
013986,000067:
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Page 326
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013988,000069: 13,2114 53775 SVDWN1 VLOAD VSL*
013989,000070: 13,2115 01521 TDELTAV
013990,000071: 13,2116 57605 0 -7,2
013991,000072: 13,2117 53655 VAD VSL*
013992,000073: 13,2120 01535 RCV
013993,000074: 13,2121 57576 0,2
013994,000075: 13,2122 25716 STOVL R-OTHER
013995,000076: 13,2123 01527 TNUV
013996,000077: 13,2124 53257 VSL* VAD
013997,000078: 13,2125 57602 0 -4,2
013998,000079: 13,2126 01543 VCV
013999,000080: 13,2127 77657 VSL*
014000,000081: 13,2130 57576 0,2
014001,000082: 13,2131 01724 STORE V-OTHER
014002,000083: 13,2132 77616 RVQ
014003,000084:
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Page 327
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014005,000086: # THE FOLLOWING ROUTINE TAKES A HALF UNIT TARGET VECTOR REFERRED TO NAV BASE COORDINATES AND FINDS BOTH
014006,000087: # GIMBAL ORIENTATIONS AT WHICH THE RR MIGHT SIGHT THE TARGET. THE GIMBAL ANGLES CORRESPONDING TO THE PRESENT MODE
014007,000088: # ARE LEFT IN MODEA AND THOSE WHICH WOULD BE USED AFTER A REMODE IN MODEB. THIS ROUTINE ASSUMES MODE 1 IS TRUNNION
014008,000089: # ANGLE LESS THAN 90 DEGS IN ABS VALUE WITH ARBITRARY SHAFT, WITH A CORRESPONDING DEFINITION FOR MODE 2. MODE
014009,000090: # SELECTION AND LIMIT CHECKING ARE DONE ELSEWHERE.
014010,000091:
014011,000092: # THE MODE 1 CONFIGURATION IS CALCULATED FROM THE VECTOR AND THEN MODE 2 IS FOUND USING THE RELATIONS
014012,000093:
014013,000094: # S(2) = 180 + S(1)
014014,000095: # T(2) = 180 - T(1)
014015,000096:
014016,000097: # THE VECTOR ARRIVES IN MPAC WHERE TRG*SMNG OR *SMNB* WILL HAVE LEFT IT.
014017,000098:
014018,000099: 13,2133 00041 RRANGLES STORE 32D
014019,000100: 13,2134 57545 DLOAD DCOMP # SINCE WE WILL FIND THE MODE 1 SHAFT
014020,000101: 13,2135 00043 34D # ANGLE LATER, WE CAN FIND THE MODE 1
014021,000102: 13,2136 67401 SETPD ASIN # TRUNNION BY SIMPLY TAKING THE ARCSIN OF
014022,000103: 13,2137 00001 0 # THE Y COMPONENT, THE ASIN GIVING AN
014023,000104: 13,2140 44206 PUSH BDSU # ANSWER WHOSE ABS VAL IS LESS THAN 90 DEG
014024,000105: 13,2141 24005 LODPHALF
014025,000106: 13,2142 14005 STODL 4 # MODE 2 TRUNNION TO 4.
014026,000107:
014027,000108: 13,2143 24007 LO6ZEROS
014028,000109: 13,2144 24043 STOVL 34D # UNIT THE PROJECTION OF THE VECTOR
014029,000110: 13,2145 00041 32D # IN THE X-Z PLANE
014030,000111: 13,2146 41056 UNIT BOVB # IF OVERFLOW,TARGET VECTOR IS ALONG Y
014031,000112: 13,2147 52432 LUNDESCH # CALL FOR MANEUVER UNLESS ON LUNAR SURF
014032,000113: 13,2150 14041 STODL 32D # PROJECTION VECTOR.
014033,000114: 13,2151 00041 32D
014034,000115: 13,2152 44142 SR1 STQ
014035,000116: 13,2153 00051 S2
014036,000117: 13,2154 14023 STODL SINTH # USE ARCTRIG SINCE SHAFT COULD BE ARB.
014037,000118: 13,2155 00045 36D
014038,000119: 13,2156 77742 SR1
014039,000120: 13,2157 34021 STCALL COSTH
014040,000121: 13,2160 47316 ARCTRIG
014041,000122:
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Page 328
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014043,000124: 13,2161 43206 PUSH DAD # MODE 1 SHAFT TO 2.
014044,000125: 13,2162 24005 LODPHALF
014045,000126: 13,2163 24007 STOVL 6
014046,000127: 13,2164 00005 4
014047,000128: 13,2165 77634 RTB # FIND MODE 2 CDU ANGLES.
014048,000129: 13,2166 21636 2V1STO2S
014049,000130: 13,2167 25111 STOVL MODEB
014050,000131: 13,2170 00001 0
014051,000132: 13,2171 77634 RTB # MODE 1 ANGLES TO MODE A.
014052,000133: 13,2172 21636 2V1STO2S
014053,000134: 13,2173 01107 STORE MODEA
014054,000135: 13,2174 77776 EXIT
014055,000136:
014056,000137: 13,2175 40110 CS RADMODES # SWAP MODEA AND MODEB IF RR IN MODE 2.
014057,000138: 13,2176 74740 MASK ANTENBIT
014058,000139: 13,2177 10000 CCS A
014059,000140: 13,2200 12204 TCF +4
014060,000141:
014061,000142: 13,2201 53107 DXCH MODEA
014062,000143: 13,2202 53111 DXCH MODEB
014063,000144: 13,2203 53107 DXCH MODEA
014064,000145:
014065,000146: 13,2204 06042 TC INTPRET
014066,000147: 13,2205 77650 GOTO
014067,000148: 13,2206 00051 S2
014068,000149:
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Page 329
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014070,000151: # GIVEN RR TRUNNION AND SHAFT (T,S) IN TANGNB,+1,FIND THE ASSOCIATED
014071,000152: # LINE OF SIGHT IN NAV BASE AXES. THE HALF UNIT VECTOR, .5(SIN(S)COS(T),
014072,000153: # -SIN(T),COS(S)COS(T)) IS LEFT IN MPAC AND 32D.
014073,000154:
014074,000155: 23,2000 SETLOC INFLIGHT
014075,000156: 23,2000 BANK
014076,000157:
014077,000158: 23,2041 COUNT* $$/GEOM
014078,000159:
014079,000160: 23,2041 47135 RRNB SLOAD RTB
014080,000161: 23,2042 03753 TANGNB
014081,000162: 23,2043 21577 CDULOGIC
014082,000163: 23,2044 41401 SETPD PUSH # TRUNNION ANGLE TO 0
014083,000164: 23,2045 00001 0
014084,000165: 23,2046 57556 SIN DCOMP
014085,000166: 23,2047 14043 STODL 34D # Y COMPONENT
014086,000167:
014087,000168: 23,2050 41546 COS PUSH # .5 COS(T) TO 0
014088,000169: 23,2051 47135 SLOAD RTB
014089,000170: 23,2052 03754 TANGNB +1
014090,000171: 23,2053 21577 CDULOGIC
014091,000172: 23,2054 71406 RRNB1 PUSH COS # SHAFT ANGLE TO 2
014092,000173: 23,2055 72405 DMP SL1
014093,000174: 23,2056 00001 0
014094,000175: 23,2057 14045 STODL 36D # Z COMPONENT
014095,000176:
014096,000177: 23,2060 41356 SIN DMP
014097,000178: 23,2061 77752 SL1
014098,000179: 23,2062 24041 STOVL 32D
014099,000180: 23,2063 00041 32D
014100,000181: 23,2064 77616 RVQ
014101,000182:
014102,000183: # THIS ENTRY TO RRNB REQUIRES THE TRUNNION AND SHAFT ANGLES IN MPAC AND MPAC +1 RESPECTIVELY
014103,000184:
014104,000185: 23,2065 14025 RRNBMPAC STODL 20D # SAVE SHAFT CDU IN 21.
014105,000186: 23,2066 00155 MPAC # SET MODE TO DP. (THE PRECEEDING STORE
014106,000187: # MAY BE DP, TP OR VECTOR.)
014107,000188: 23,2067 40234 RTB SETPD
014108,000189: 23,2070 21577 CDULOGIC
014109,000190: 23,2071 00001 0
014110,000191: 23,2072 73406 PUSH SIN # TRUNNION ANGLE TO 0
014111,000192: 23,2073 77676 DCOMP
014112,000193: 23,2074 14043 STODL 34D # Y COMPONENT
014113,000194: 23,2075 41546 COS PUSH # .5COS(T) TO 0
014114,000195: 23,2076 47135 SLOAD RTB # PICK UP CDU'S.
014115,000196: 23,2077 00026 21D
014116,000197: 23,2100 21577 CDULOGIC
014117,000198: 23,2101 77650 GOTO
014118,000199: 23,2102 46054 RRNB1
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Page 330
Note: This page is empty in the printout of the assembly listing.
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End of include-file LEM_GEOMETRY.agc. Parent file is MAIN.agc