Source Code
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These source-code files were transcribed from scans made from Don Eyles's personal
copy of Luminary 069. They were scanned at archive.org's Boston
facility, and the scanning was sponsored by Onno Hommes. The code was transcribed
from these scans by a team of volunteers who are referenced in the program
comments. Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". In some cases, where
similar code blocks exist in previously-transcribed AGC programs (primarily
Luminary 99, from Apollo 11) those code blocks were used as a starting point and
then corrected to agree with the Luminary 69 scans. The full scans are available
at the Virtual AGC
project's collection at archive.org, while more-convenient reduced-size (but reduced-quality)
images are available at
the main Virtual AGC website. Report any errors noted by creating an
issue report at the Virtual AGC
project's GitHub repository. Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011 19:02 NOV. 25,1968Note that the date is the date of the printout, not the date of the program revision. |
016376,000002: ## Copyright: Public domain.
016377,000003: ## Filename: KALCMANU_STEERING.agc
016378,000004: ## Purpose: The main source file for Luminary revision 069.
016379,000005: ## It is part of the source code for the original release
016380,000006: ## of the flight software for the Lunar Module's (LM) Apollo
016381,000007: ## Guidance Computer (AGC) for Apollo 10. The actual flown
016382,000008: ## version was Luminary 69 revision 2, which included a
016383,000009: ## newer lunar gravity model and only affected module 2.
016384,000010: ## This file is intended to be a faithful transcription, except
016385,000011: ## that the code format has been changed to conform to the
016386,000012: ## requirements of the yaYUL assembler rather than the
016387,000013: ## original YUL assembler.
016388,000014: ## Reference: pp. 378-382
016389,000015: ## Assembler: yaYUL
016390,000016: ## Contact: Ron Burkey <info@sandroid.org>.
016391,000017: ## Website: www.ibiblio.org/apollo/index.html
016392,000018: ## Mod history: 2016-12-13 MAS Created from Luminary 99.
016393,000019: ## 2016-12-14 MAS Updated from comment-proofed Luminary 99 version.
016394,000020: ## 2017-01-17 RRB Updated for Luminary 69.
016395,000021: ## 2017-01-27 RSB Proofed comment text using octopus/prooferComments
016396,000022: ## and fixed errors found.
016397,000023: ## 2017-03-07 RSB Removed yaYUL workaround that no longer
016398,000024: ## seems to be needed.
016399,000025: ## 2017-03-17 RSB Comment-text fixes identified in diff'ing
016400,000026: ## Luminary 99 vs Comanche 55.
016401,000027:
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Page 378 |
016403,000029: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
016404,000030:
016405,000031: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
016406,000032:
016407,000033: 22,3003 E6,1705 EBANK= TTEMP
016408,000034:
016409,000035: 22,3003 04616 NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
016410,000036: 22,3004 54240 CADR ISITAUTO # ONLY
016411,000037: 22,3005 10000 CCS A
016412,000038: 22,3006 12730 TCF NOGO -2
016413,000039: 22,3007 06036 NEWANGL TC INTPRET
016414,000040: 22,3010 75160 AXC,1 AXC,2
016415,000041: 22,3011 03244 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
016416,000042: 22,3012 02234 KEL # STABLE MEMBER AXES
016417,000043: 22,3013 77624 CALL
016418,000044: 22,3014 44312 MXM3
016419,000045: 22,3015 45575 VLOAD STADR
016420,000046: 22,3016 50516 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
016421,000047: 22,3017 77626 STADR
016422,000048: 22,3020 50524 STOVL MIS +6D
016423,000049: 22,3021 77626 STADR
016424,000050: 22,3022 74532 STORE MIS
016425,000051: 22,3023 45160 AXC,1 CALL
016426,000052: 22,3024 03244 MIS
016427,000053: 22,3025 44654 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
016428,000054: 22,3026 77634 RTB
016429,000055: 22,3027 21524 V1STO2S
016430,000056: 22,3030 03302 STORE NCDU # NEW CDU ANGLES
016431,000057: 22,3031 77414 BONCLR EXIT
016432,000058: 22,3032 01215 CALCMAN2
016433,000059: 22,3033 45122 MANUSTAT # TO START MANEUVER
016434,000060: 22,3034 34752 CAF TWO # +0 OTHERWISE
016435,000061: 22,3035 55272 INCRDCDU TS SPNDX
016436,000062: 22,3036 51272 INDEX SPNDX
016437,000063: 22,3037 31674 CA BCDU # INITIAL CDU ANGLES
016438,000064: 22,3040 00006 EXTEND # OR PREVIOUS DESIRED CDU ANGLES
016439,000065: 22,3041 51272 INDEX SPNDX
016440,000066: 22,3042 21701 MSU NCDU
016441,000067: 22,3043 00006 EXTEND
016442,000068: 22,2000 SETLOC KALCMON1
016443,000069: 22,2000 BANK
016444,000070:
016445,000071: 22,3044 73121 MP DT/TAU
016446,000072: 22,3045 10000 CCS A # CONVERT TO 2S COMPLEMENT
016447,000073: 22,3046 64753 AD ONE
016448,000074: 22,3047 13051 TCF +2
016449,000075: 22,3050 40000 COM
016450,000076: 22,3051 51272 INDEX SPNDX
016451,000077: 22,3052 55636 TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
016452,000078: 22,3053 51272 INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
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Page 379 |
016454,000080: 22,3054 31701 CA NCDU # BY LEM DAP
016455,000081: 22,3055 51272 INDEX SPNDX
016456,000082: 22,3056 57674 XCH BCDU
016457,000083: 22,3057 51272 INDEX SPNDX
016458,000084: 22,3060 55633 TS CDUXD
016459,000085: 22,3061 11272 CCS SPNDX
016460,000086: 22,3062 13035 TCF INCRDCDU # LOOP FOR THREE AXES
016461,000087:
016462,000088: 22,3063 00003 RELINT
016463,000089:
016464,000090: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
016465,000091:
016466,000092: 22,3064 03075 TMANUCHK TC TIMECHK
016467,000093: 22,3065 13170 TCF CONTMANU
016468,000094: 22,3066 34753 CAF ONE
016469,000095: 22,3067 00004 MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC
016470,000096: 22,3070 05203 TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP
016471,000097: 22,3071 E6,1705 EBANK= TTEMP
016472,000098: 22,3071 03213 44066 2CADR MANUSTOP
016473,000099:
016474,000100: 22,3073 00003 RELINT
016475,000101: 22,3074 15155 TCF ENDOFJOB
016476,000102:
016477,000103: 22,3075 00006 TIMECHK EXTEND
016478,000104: 22,3076 40025 DCS TIME2
016479,000105: 22,3077 53706 DXCH TTEMP
016480,000106: 22,3100 00006 EXTEND
016481,000107: 22,3101 31732 DCA TM
016482,000108: 22,3102 21706 DAS TTEMP
016483,000109: 22,3103 11705 CCS TTEMP
016484,000110: 22,3104 00002 TC Q
016485,000111: 22,3105 13107 TCF +2
016486,000112: 22,3106 13117 TCF 2NDRETRN
016487,000113: 22,3107 11706 CCS TTEMP +1
016488,000114: 22,3110 00002 TC Q
016489,000115: 22,3111 13113 TCF MANUOFF
016490,000116: 22,3112 40000 COM
016491,000117: 22,3113 63166 MANUOFF AD ONESEK +1
016492,000118: 22,3114 00006 EXTEND
016493,000119: 22,3115 63117 BZMF 2NDRETRN
016494,000120: 22,3116 24002 INCR Q
016495,000121: 22,3117 24002 2NDRETRN INCR Q
016496,000122: 22,3120 00002 TC Q
016497,000123:
016498,000124: 22,3121 03146 DT/TAU DEC .1
016499,000125:
016500,000126: 22,3122 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
016501,000127: 22,3123 00006 EXTEND # FOR AUTOMATIC MANEUVERS
016502,000128: 22,3124 30025 DCA TIME2
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Page 380 |
016504,000130: 22,3125 21732 DAS TM # TM+T0 MANEUVER COMPLETION TIME
016505,000131: 22,3126 00006 EXTEND
016506,000132: 22,3127 43166 DCS ONESEK
016507,000133: 22,3130 21732 DAS TM # (TM+T0)-1
016508,000134: 22,3131 00004 INHINT
016509,000135: 22,3132 34752 CAF TWO
016510,000136: 22,3133 55677 RATEBIAS TS KSPNDX
016511,000137: 22,3134 60000 DOUBLE
016512,000138: 22,3135 55700 TS KDPNDX
016513,000139: 22,3136 50000 INDEX A
016514,000140: 22,3137 31723 CA BRATE
016515,000141: 22,3140 51677 INDEX KSPNDX # STORE MANEUVER RATE IN
016516,000142: 22,3141 55641 TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD
016517,000143: 22,3142 00006 EXTEND
016518,000144: 22,3143 63145 BZMF +2 # COMPUTE ATTITUDE ERROR
016519,000145: 22,3144 40000 COM # OFFSET = (WX)ABS(WX)/2AJX
016520,000146: 22,3145 00006 EXTEND # WHERE AJX= 2-JET ACCELERATION
016521,000147: 22,3146 73167 MP BIASCALE # = -1/16
016522,000148: 22,3147 00006 EXTEND
016523,000149: 22,3150 51700 INDEX KDPNDX
016524,000150: 22,3151 71723 MP BRATE
016525,000151: 22,3152 00006 EXTEND
016526,000152: 22,3153 51677 INDEX KSPNDX
016527,000153: 22,3154 11530 DV 1JACC # = AJX $ 90 DEG/SEC-SEC
016528,000154: 22,3155 51677 INDEX KSPNDX
016529,000155: 22,3156 55277 TS DELPEROR # $ 180 DEG
016530,000156: 22,3157 11677 CCS KSPNDX
016531,000157: 22,3160 13133 TCF RATEBIAS
016532,000158:
016533,000159: 22,3161 30025 CA TIME1
016534,000160: 22,3162 63166 AD ONESEK +1
016535,000161: 22,3163 57704 XCH NEXTIME
016536,000162: 22,3164 13034 TCF INCRDCDU -1
016537,000163:
016538,000164: 22,3165 00000 ONESEK DEC 0 B-14
016539,000165: 22,3166 00144 DEC 100 B-14
016540,000166:
016541,000167: 22,3167 75777 BIASCALE OCT 75777 # = -1/16
016542,000168:
016543,000169: 22,3170 40025 CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
016544,000170: 22,3171 61704 AD NEXTIME
016545,000171: 22,3172 10000 CCS A
016546,000172: 22,3173 64753 AD ONE
016547,000173: 22,3174 13177 TCF MANUCALL
016548,000174: 22,3175 64735 AD NEGMAX
016549,000175: 22,3176 40000 COM
016550,000176: 22,3177 00004 MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
016551,000177: 22,3200 05203 TC WAITLIST
016552,000178: 22,3201 E6,1705 EBANK= TTEMP
016553,000179: 22,3201 03206 44066 2CADR UPDTCALL
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Page 381 |
016555,000181: 22,3203 33166 CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
016556,000182: 22,3204 27704 ADS NEXTIME
016557,000183: 22,3205 15155 TCF ENDOFJOB
016558,000184:
016559,000185: 22,3206 37713 UPDTCALL CAF PRIO26 # SATELLITE PROGRAM TO CALL FOR UPDATE
016560,000186: 22,3207 05105 TC FINDVAC # OF STEERING COMMANDS
016561,000187: 22,3210 E6,1705 EBANK= TTEMP
016562,000188: 22,3210 03003 44066 2CADR NEWDELHI
016563,000189:
016564,000190: 22,3212 05261 TC TASKOVER
016565,000191:
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Page 382 |
016567,000193: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
016568,000194:
016569,000195: 22,3213 34755 MANUSTOP CAF ZERO # ZERO MANEUVER RATES
016570,000196: 22,3214 55640 TS DELDCDU2
016571,000197: 22,3215 55643 TS OMEGARD
016572,000198: 22,3216 55301 TS DELREROR
016573,000199: 22,3217 55637 TS DELDCDU1
016574,000200: 22,3220 55642 TS OMEGAQD
016575,000201: 22,3221 55300 TS DELQEROR
016576,000202: 22,3222 30323 CA CPSI # SET DESIRED GIMBAL ANGLES TO
016577,000203: 22,3223 55635 TS CDUZD # DESIRED FINAL GIMBAL ANGLES
016578,000204: 22,3224 30322 CA CTHETA
016579,000205: 22,3225 55634 TS CDUYD
016580,000206: 22,3226 30321 ENDROLL CA CPHI # NO FINAL YAW
016581,000207: 22,3227 55633 TS CDUXD
016582,000208: 22,3230 34755 CAF ZERO
016583,000209: 22,3231 55641 TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU
016584,000210: 22,3232 55636 TS DELDCDU # GIMBAL LOCK ORIGINALLY
016585,000211: 22,3233 55277 TS DELPEROR
016586,000212: 22,3234 31311 GOODMANU CA ATTPRIO # RESTORE USERS PRIO
016587,000213: 22,3235 54063 TS NEWPRIO
016588,000214:
016589,000215: 22,3236 34755 CA ZERO # ZERO ATTCADR
016590,000216: 22,3237 53310 DXCH ATTCADR
016591,000217:
016592,000218: 22,3240 05116 TC SPVAC # RETURN TO USER
016593,000219:
016594,000220: 22,3241 05261 TC TASKOVER
016595,000221:
016596,000222:
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc