Source Code
![]() |
This is an attempt to recreate Luminary 99 Rev 2, otherwise known as LUM99R2, from Luminary 99 Rev 1 and ephemeris data from Luminary 116. The differences are confined to the last 10-12 lines of the CONTROLLED CONSTANTS. Luminary 99 Rev 1 source-code was transcribed from a printout in the MIT Museum, while Luminary 116 source code was transcribed from a printout belonging to Don Eyles. AGC developer James Kernan, the "rope mother" for the Apollo 11 Lunar Module's AGC, explains as follows: "At the last minute, Dan Lickly, our chief engineer, appeared with ephemerides updates and it took two tries to get it right. The result was that we created Lum99 Revision 1 and Lum99 Revision 2." It is suspected that the former is what's in the MIT Museum, and the latter is what we are trying to recreate here. As for which revision actually flew in Apollo 11, all of the other available surviving evidence points to Rev 1 rather than to Rev 2, so we're just not sure! |
014992,000002: ## Copyright: Public domain.
014993,000003: ## Filename: KALCMANU_STEERING.agc
014994,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
014995,000005: ## It is part of the source code for the Lunar Module's (LM)
014996,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
014997,000007: ## Assembler: yaYUL
014998,000008: ## Contact: Ron Burkey <info@sandroid.org>.
014999,000009: ## Website: www.ibiblio.org/apollo.
015000,000010: ## Pages: 365-369
015001,000011: ## Mod history: 2009-05-17 RSB Adapted from the corresponding
015002,000012: ## Luminary131 file, using page
015003,000013: ## images from Luminary 1A.
015004,000014: ## 2011-01-06 JL Added missing comment characters.
015005,000015: ## 2016-12-14 RSB Proofed text comments with octopus/ProoferComments
015006,000016: ## and corrected the errors found.
015007,000017: ## 2017-03-03 RSB Snapshot of Luminary 99 Rev 1.
015008,000018: ## 2017-03-07 RSB Removed yaYUL workaround that no longer
015009,000019: ## seems to be needed.
015010,000020: ## 2017-03-17 RSB Comment-text fixes identified in diff'ing
015011,000021: ## Luminary 99 vs Comanche 55.
015012,000022:
![]() |
Page 365 |
015014,000024: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
015015,000025:
015016,000026: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
015017,000027:
015018,000028: 22,3003 E6,1707 EBANK= TTEMP
015019,000029:
015020,000030: 22,3003 04616 NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
015021,000031: 22,3004 54262 CADR ISITAUTO # ONLY
015022,000032: 22,3005 10000 CCS A
015023,000033: 22,3006 12730 TCF NOGO -2
015024,000034: 22,3007 06037 NEWANGL TC INTPRET
015025,000035: 22,3010 75160 AXC,1 AXC,2
015026,000036: 22,3011 03246 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
015027,000037: 22,3012 02230 KEL # STABLE MEMBER AXES
015028,000038: 22,3013 77624 CALL
015029,000039: 22,3014 44312 MXM3
015030,000040: 22,3015 45575 VLOAD STADR
015031,000041: 22,3016 50514 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
015032,000042: 22,3017 77626 STADR
015033,000043: 22,3020 50522 STOVL MIS +6D
015034,000044: 22,3021 77626 STADR
015035,000045: 22,3022 74530 STORE MIS
015036,000046: 22,3023 45160 AXC,1 CALL
015037,000047: 22,3024 03246 MIS
015038,000048: 22,3025 44654 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
015039,000049: 22,3026 77634 RTB
015040,000050: 22,3027 21620 V1STO2S
015041,000051: 22,3030 03304 STORE NCDU # NEW CDU ANGLES
015042,000052: 22,3031 77414 BONCLR EXIT
015043,000053: 22,3032 01215 CALCMAN2
015044,000054: 22,3033 45122 MANUSTAT # TO START MANEUVER
015045,000055: 22,3034 34752 CAF TWO # +0 OTHERWISE
015046,000056: 22,3035 55272 INCRDCDU TS SPNDX
015047,000057: 22,3036 51272 INDEX SPNDX
015048,000058: 22,3037 31676 CA BCDU # INITIAL CDU ANGLES
015049,000059: 22,3040 00006 EXTEND # OR PREVIOUS DESIRED CDU ANGLES
015050,000060: 22,3041 51272 INDEX SPNDX
015051,000061: 22,3042 21703 MSU NCDU
015052,000062: 22,3043 00006 EXTEND
015053,000063: 22,2000 SETLOC KALCMON1
015054,000064: 22,2000 BANK
015055,000065:
015056,000066: 22,3044 73121 MP DT/TAU
015057,000067: 22,3045 10000 CCS A # CONVERT TO 2S COMPLEMENT
015058,000068: 22,3046 64753 AD ONE
015059,000069: 22,3047 13051 TCF +2
015060,000070: 22,3050 40000 COM
015061,000071: 22,3051 51272 INDEX SPNDX
015062,000072: 22,3052 55640 TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
015063,000073: 22,3053 51272 INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
![]() |
Page 366 |
015065,000075: 22,3054 31703 CA NCDU # BY LEM DAP
015066,000076: 22,3055 51272 INDEX SPNDX
015067,000077: 22,3056 57676 XCH BCDU
015068,000078: 22,3057 51272 INDEX SPNDX
015069,000079: 22,3060 55635 TS CDUXD
015070,000080: 22,3061 11272 CCS SPNDX
015071,000081: 22,3062 13035 TCF INCRDCDU # LOOP FOR THREE AXES
015072,000082:
015073,000083: 22,3063 00003 RELINT
015074,000084:
015075,000085: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
015076,000086:
015077,000087: 22,3064 03075 TMANUCHK TC TIMECHK
015078,000088: 22,3065 13170 TCF CONTMANU
015079,000089: 22,3066 34753 CAF ONE
015080,000090: 22,3067 00004 MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC
015081,000091: 22,3070 05203 TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP
015082,000092: 22,3071 E6,1707 EBANK= TTEMP
015083,000093: 22,3071 03213 44066 2CADR MANUSTOP
015084,000094:
015085,000095: 22,3073 00003 RELINT
015086,000096: 22,3074 15155 TCF ENDOFJOB
015087,000097:
015088,000098: 22,3075 00006 TIMECHK EXTEND
015089,000099: 22,3076 40025 DCS TIME2
015090,000100: 22,3077 53710 DXCH TTEMP
015091,000101: 22,3100 00006 EXTEND
015092,000102: 22,3101 31734 DCA TM
015093,000103: 22,3102 21710 DAS TTEMP
015094,000104: 22,3103 11707 CCS TTEMP
015095,000105: 22,3104 00002 TC Q
015096,000106: 22,3105 13107 TCF +2
015097,000107: 22,3106 13117 TCF 2NDRETRN
015098,000108: 22,3107 11710 CCS TTEMP +1
015099,000109: 22,3110 00002 TC Q
015100,000110: 22,3111 13113 TCF MANUOFF
015101,000111: 22,3112 40000 COM
015102,000112: 22,3113 63166 MANUOFF AD ONESEK +1
015103,000113: 22,3114 00006 EXTEND
015104,000114: 22,3115 63117 BZMF 2NDRETRN
015105,000115: 22,3116 24002 INCR Q
015106,000116: 22,3117 24002 2NDRETRN INCR Q
015107,000117: 22,3120 00002 TC Q
015108,000118:
015109,000119: 22,3121 03146 DT/TAU DEC .1
015110,000120:
015111,000121: 22,3122 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
015112,000122: 22,3123 00006 EXTEND # FOR AUTOMATIC MANEUVERS
015113,000123: 22,3124 30025 DCA TIME2
![]() |
Page 367 |
015115,000125: 22,3125 21734 DAS TM # TM+T0 MANEUVER COMPLETION TIME
015116,000126: 22,3126 00006 EXTEND
015117,000127: 22,3127 43166 DCS ONESEK
015118,000128: 22,3130 21734 DAS TM # (TM+T0)-1
015119,000129: 22,3131 00004 INHINT
015120,000130: 22,3132 34752 CAF TWO
015121,000131: 22,3133 55701 RATEBIAS TS KSPNDX
015122,000132: 22,3134 60000 DOUBLE
015123,000133: 22,3135 55702 TS KDPNDX
015124,000134: 22,3136 50000 INDEX A
015125,000135: 22,3137 31725 CA BRATE
015126,000136: 22,3140 51701 INDEX KSPNDX # STORE MANEUVER RATE IN
015127,000137: 22,3141 55643 TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD
015128,000138: 22,3142 00006 EXTEND
015129,000139: 22,3143 63145 BZMF +2 # COMPUTE ATTITUDE ERROR
015130,000140: 22,3144 40000 COM # OFFSET = (WX)ABS(WX)/2AJX
015131,000141: 22,3145 00006 EXTEND # WHERE AJX= 2-JET ACCELERATION
015132,000142: 22,3146 73167 MP BIASCALE # = -1/16
015133,000143: 22,3147 00006 EXTEND
015134,000144: 22,3150 51702 INDEX KDPNDX
015135,000145: 22,3151 71725 MP BRATE
015136,000146: 22,3152 00006 EXTEND
015137,000147: 22,3153 51701 INDEX KSPNDX
015138,000148: 22,3154 11530 DV 1JACC # = AJX $ 90 DEG/SEC-SEC
015139,000149: 22,3155 51701 INDEX KSPNDX
015140,000150: 22,3156 55277 TS DELPEROR # $ 180 DEG
015141,000151: 22,3157 11701 CCS KSPNDX
015142,000152: 22,3160 13133 TCF RATEBIAS
015143,000153:
015144,000154: 22,3161 30025 CA TIME1
015145,000155: 22,3162 63166 AD ONESEK +1
015146,000156: 22,3163 57706 XCH NEXTIME
015147,000157: 22,3164 13034 TCF INCRDCDU -1
015148,000158:
015149,000159: 22,3165 00000 ONESEK DEC 0 B-14
015150,000160: 22,3166 00144 DEC 100 B-14
015151,000161:
015152,000162: 22,3167 75777 BIASCALE OCT 75777 # = -1/16
015153,000163:
015154,000164: 22,3170 40025 CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
015155,000165: 22,3171 61706 AD NEXTIME
015156,000166: 22,3172 10000 CCS A
015157,000167: 22,3173 64753 AD ONE
015158,000168: 22,3174 13177 TCF MANUCALL
015159,000169: 22,3175 64735 AD NEGMAX
015160,000170: 22,3176 40000 COM
015161,000171: 22,3177 00004 MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
015162,000172: 22,3200 05203 TC WAITLIST
015163,000173: 22,3201 E6,1707 EBANK= TTEMP
015164,000174: 22,3201 03206 44066 2CADR UPDTCALL
![]() |
Page 368 |
015166,000176: 22,3203 33166 CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
015167,000177: 22,3204 27706 ADS NEXTIME
015168,000178: 22,3205 15155 TCF ENDOFJOB
015169,000179:
015170,000180: 22,3206 37714 UPDTCALL CAF PRIO26 # SATELLITE PROGRAM TO CALL FOR UPDATE
015171,000181: 22,3207 05105 TC FINDVAC # OF STEERING COMMANDS
015172,000182: 22,3210 E6,1707 EBANK= TTEMP
015173,000183: 22,3210 03003 44066 2CADR NEWDELHI
015174,000184:
015175,000185: 22,3212 05261 TC TASKOVER
015176,000186:
![]() |
Page 369 |
015178,000188: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
015179,000189:
015180,000190: 22,3213 34755 MANUSTOP CAF ZERO # ZERO MANEUVER RATES
015181,000191: 22,3214 55642 TS DELDCDU2
015182,000192: 22,3215 55645 TS OMEGARD
015183,000193: 22,3216 55301 TS DELREROR
015184,000194: 22,3217 55641 TS DELDCDU1
015185,000195: 22,3220 55644 TS OMEGAQD
015186,000196: 22,3221 55300 TS DELQEROR
015187,000197: 22,3222 30323 CA CPSI # SET DESIRED GIMBAL ANGLES TO
015188,000198: 22,3223 55637 TS CDUZD # DESIRED FINAL GIMBAL ANGLES
015189,000199: 22,3224 30322 CA CTHETA
015190,000200: 22,3225 55636 TS CDUYD
015191,000201: 22,3226 30321 ENDROLL CA CPHI # NO FINAL YAW
015192,000202: 22,3227 55635 TS CDUXD
015193,000203: 22,3230 34755 CAF ZERO
015194,000204: 22,3231 55643 TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU
015195,000205: 22,3232 55640 TS DELDCDU # GIMBAL LOCK ORIGINALLY
015196,000206: 22,3233 55277 TS DELPEROR
015197,000207: 22,3234 31311 GOODMANU CA ATTPRIO # RESTORE USERS PRIO
015198,000208: 22,3235 54063 TS NEWPRIO
015199,000209:
015200,000210: 22,3236 34755 CA ZERO # ZERO ATTCADR
015201,000211: 22,3237 53310 DXCH ATTCADR
015202,000212:
015203,000213: 22,3240 05116 TC SPVAC # RETURN TO USER
015204,000214:
015205,000215: 22,3241 05261 TC TASKOVER
015206,000216:
015207,000217:
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc