I was just looking at this yesterday. Apparently Voyager 1 architecture, ISA, etc are well known but Voyager 2 is still denied via FOIA on grounds of copyright.
Voyager 1 and Voyager 2 are identical, as are their computers. JPL's Voyager documentation is the property of Caltech, not NASA, and are thus not available via FOIA. People have gotten copies of selected documentation by requesting them from libraries that have copies of the original documents on file.
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And it has been compared to the PDP-8 like rahen suggests, although the Voyager computers are built from medium-scale ICs!
https://science.nasa.gov/mission/voyager/where-are-voyager-1...