### FILE="Main.annotation"
## Copyright:   Public domain.
## Filename:    R63.agc
## Purpose:     A section of LUM69 revision 2.
##              It is part of the reconstructed source code for the flown
##              version of the flight software for the Lunar Module's (LM)
##              Apollo Guidance Computer (AGC) for Apollo 10. The code has
##              been recreated from a copy of Luminary revsion 069, using
##              changes present in Luminary 099 which were described in
##              Luminary memos 75 and 78. The code has been adapted such
##              that the resulting bugger words exactly match those specified
##              for LUM69 revision 2 in NASA drawing 2021152B, which gives
##              relatively high confidence that the reconstruction is correct.
## Reference:   pp. 351-354
## Assembler:   yaYUL
## Contact:     Ron Burkey <info@sandroid.org>.
## Website:     www.ibiblio.org/apollo/index.html
## Mod history: 2019-07-27 MAS  Created from Luminary 69.

## Page 351
# SUBROUTINE NAME:	V89CALL
# MOD NO:	0			DATE:		9 JAN 1968
# MOD BY:	DIGITAL DEVEL GROUP	LOG SECTION:	R63
#
# FUNCTIONAL DESCRIPTION:
#
# CALLED BY VERB 89 ENTER DURING P00.  PRIO 10 USED.  CALCULATES AND
# DISPLAYS FINAL FDAI BALL ANGLES TO POINT LM +X OR +Z AXIS AT CSM.
#
# 1. KEY IN V 89 E ONLY IF IN PROG 00.  IF NOT IN P00, OPERATOR ERROR AND
# EXIT R63, OTHERWISE CONTINUE.
#
# 2. IF IN P00, DO IMU STATUS CHECK ROUTINE (R02BOTH).  IF IMU ON AND ITS
# ORIENTATION KNOWN TO LGC, CONTINUE.
#
# 3. FLASH DISPLAY V 04 N 06.  R2 INDICATES WHICH SPACECRAFT AXIS IS TO
# BE POINTED AT CSM.  INITIAL CHOICE IS PREFERRED (+Z) AXIS (R2=1).
# ASTRONAUT CAN CHANGE TO (+X) AXIS (R2 NOT =1) BY V 22 E 2 E.  CONTINUE
# AFTER KEYING IN PROCEED.
#
# 4. BOTH VEHICLE STATE VECTORS UPDATED BY CONIC EQS.
#
# 5. HALF MAGNITUDE UNIT LOS VECTOR (IN STABLE MEMBER COORDINATES) AND
# HALF MAGNITUDE UNIT SPACECRAFT AXIS VECTOR (IN BODY COORDINATES)
# PREPARED FOR VECPOINT.
#
# 6. GIMBAL ANGLES FROM VECPOINT TRANSFORMED INTO FDAI BALL ANGLES BY
# BALLANGS.  FLASH DISPLAY V 06 N 18 AND AWAIT RESPONSE.
#
# 7. 	RECYCLE - RETURN TO STEP 4.
#	TERMINATE - EXIT R63.
#	PROCEED - RESET 3AXISFLG AND CALL R60LEM FOR ATTITUDE MANEUVER.
#
# CALLING SEQUENCE:	V 89 E.
#
# SUBROUTINES CALLED:	CHKPOOH, R02BOTH, GOXDSPF, CSMCONIC, LEMCONIC,
#			VECPOINT, BALLANGS, R60LEM.
#
# NORMAL EXIT MODES: 	TC ENDEXT
#
# ALARMS:	1. OPERATOR ERROR IF NOT IN P00.
#		2. PROGRAM ALARM IF IMU IS OFF.
#		3. PROGRAM ALARM IF IMU ORIENTATION IS UNKNOWN.
#
# OUTPUT:	NONE
#
# ERASABLE INITIALIZATION REQUIRED:  NONE
#
# DEBRIS:	OPTION1, +1, TDEC1, POINTVSM, SCAXIS, CPHI, CTHETA, CPSI,
## Page 352
#		3AXISFLG.

		EBANK=	RONE
		BANK	32
		SETLOC	BAWLANGS
		BANK
		
		COUNT*	$$/R63
V89CALL		TC	BANKCALL	# IMU STATUS CHECK.  RETURNS IF ORIENTATION
		CADR	R02BOTH		# KNOWN.  ALARMS IF NOT.
		CAF	THREE		# ALLOW ASTRONAUT TO SELECT DESIRED
		TS	OPTIONX		# TRACKING ATTITUDE AXIS.
		CAF	ONE
		TS	OPTIONX  +1
		CAF	VB04N12		# V 04 N 12
		TC	BANKCALL
		CADR	GOFLASH
		TC	ENDEXT		# TERMINATE
		TC 	+2		# PROCEED
		TC	-5		# DATA IN. OPTION1+1 = 1 FOR Z AXIS
V89RECL		TC	INTPRET		#		    = 2 FOR X AXIS
		RTB	DAD
			LOADTIME	# READ PRESENT TIME
			DP1MIN
		STORE	TSTART82	# SAVE TIME FOR LEMCONIC CALL
		STCALL	TDEC1		# STORE TIME FOR CSMCONIC CALL
			CSMCONIC	# CSM STATE VECTOR UPDATE
		VLOAD			# CSMCONIC LEFT R VECTOR IN RATT
			RATT
		STODL	RONE		# SAVE FOR LINE OF SIGHT (LOS) COMPUTATION
			TSTART82
		STCALL	TDEC1		# STORE TIME FOR LEMCONIC CALL
			LEMCONIC	# LEM STATE VECTOR UPDATE
		VLOAD	VSU		# CSM POSITION - LEM POSITION = LOS
			RONE		# LOS VECTOR LEFT IN MPAC
			RATT
		MXV	RTB		# (REFSMMAT X LOS).  TRANSFORMS LOS FROM
			REFSMMAT	# REFERENCE COORD TO STAB MEMB COORD.
			NORMUNIT
		STORE	POINTVSM	# STORE LOS FOR VECPOINT CALL
		EXIT
		CS	OPTIONX +1	# 1 FOR Z AXIS.  2 FOR X AXIS.
		AD	ONE
		EXTEND
		BZF	ALINEZ
ALINEX		TC	INTPRET		# X AXIS ALIGNMENT
		VLOAD
			UNITX		# READ (.5, 0, 0)
## Page 353
V89CALL1	STCALL	SCAXIS		# STORE SELECTED ALIGNMENT AXIS
			VECPOINT	# PUTS DESIRED GIM ANG (OG,IG,MG) IN TMPAC
		STORE	CPHI		# STORE GIMBAL ANGLES FOR BALLANGS CALL.
		EXIT
		TC	BANKCALL
		CADR	BALLANGS	# PUTS DESIRED BALL ANGLES IN FDAIX,Y,Z
		CAF	VB06N18		# V 06 N 18
		TC	BANKCALL	# NOUN 18 REFERS TO FDAIX,Y,Z
		CADR	GOFLASH
		TC	ENDEXT		# TERMINATE
		TC	+2		# PROCEED
		TC	V89RECL		# RECYCLE
		TC	DOWNFLAG	# RESET 3 AXIS FLAG
		ADRES	3AXISFLG	# RESET BIT6 FLAG WORD 5
		TC	BANKCALL	# PERFORMS LEM MANEUVER TO ALIGN SELECTED
		CADR	R60LEM		# SPACECRAFT AXIS TO CSM.
		TCF	ENDEXT		# TERMINATE R63
		
ALINEZ		TC	INTPRET		# Z AXIS ALIGNMENT
		VLOAD	GOTO
			UNITZ		# READ (0, 0, .5)
			V89CALL1
			
VB04N12		VN	412
VB06N18		VN	0618
## Page 354
DP1MIN		2DEC	6000