Source Code

These source-code files are part of a reconstructed copy of Luminary 98, a development version of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer (AGC) software.

The reconstruction began with source code of Luminary 99 revision 1 previously transcribed from a digitized copy of that program. The code was then updated by undoing changes described in original Luminary memo 85, using asterisks indicating changed lines in the listing as a guide. While no listing of this version is known to exist, nor are the memory-bank checksums available, the reconstruction is believed to be correct because it was an an intermediate step in reconstructing Luminary 97 whose reconstruction was verified by matching memory-bank checksums to those listed in drawing 2021152G. Note that page numbers in the reconstructed code match those on the Luminary 099 revision 001 printout, although the added code would likely have changed page numbers for a real Luminary 98 listing.

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.

063697,000002:                                                                                                  ## Copyright:   Public domain.
063698,000003:                                                                                                  ## Filename:    SPS_BACK-UP_RCS_CONTROL.agc
063699,000004:                                                                                                  ## Purpose:     A section of Luminary revision 98.
063700,000005:                                                                                                  ##              It is part of the reconstructed source code for the a
063701,000006:                                                                                                  ##              development version of the flight software for the Lunar 
063702,000007:                                                                                                  ##              Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
063703,000008:                                                                                                  ##              The code has been recreated from a copy of Luminary 99
063704,000009:                                                                                                  ##              revision 001, using asterisks indicating changed lines in
063705,000010:                                                                                                  ##              the listing and Luminary Memo #85, which lists changes between
063706,000011:                                                                                                  ##              Luminary 98 and 99.
063707,000012:                                                                                                  ## Reference:   pp. 1507-1510
063708,000013:                                                                                                  ## Assembler:   yaYUL
063709,000014:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
063710,000015:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
063711,000016:                                                                                                  ## Mod history: 2019-07-28 MAS  Created from Luminary 99.
063712,000017: 

Page 1507

063714,000019:                                                                                                  #  PROGRAM NAME:         SPSRCS
063715,000020:                                                                                                  #  AUTHOR:               EDGAR M. OSHIKA (AC ELECTRONICS)
063716,000021:                                                                                                  #  MODIFIED:             TO RETURN TO ALL AXES VIA Q BY P. S. WEISSMAN, OCT 7, 1968
063717,000022:                                                                                                  #  MODIFIED TO IMPROVE BENDING STABILITY BY G. KALAN, FEB. 14, 1969
063718,000023: 
063719,000024:                                                                                                  #  FUNCTIONAL DESCRIPTION:
063720,000025:                                                                                                  #        THIS PROGRAM CONTROLS THE FIRING OF ALL RCS JETS IN THE DOCKED CONFIGURATION ACCORDING TO THE FOLLOWING PHASE
063721,000026:                                                                                                  #        PLANE LOGIC.
063722,000027: 
063723,000028:                                                                                                  #        1. JET SENSE TEST (SPSRCS)
063724,000029:                                                                                                  #                IF JETS ARE FIRING NEGATIVELY, SET OLDSENSE NEGATIVE AND CONTINUE
063725,000030:                                                                                                  #                IF JETS ARE FIRING POSITIVELY, SET OLDSENSE POSITIVE AND CONTINUE
063726,000031:                                                                                                  #                IF JETS ARE NOT FIRING, SET OLDSENSE TO ZERO AND GO TO OUTER RATE LIMIT TEST
063727,000032: 
063728,000033:                                                                                                  #        2. RATE DEAD BAND TEST
063729,000034:                                                                                                  #                IF JETS ARE FIRING NEGATIVELY AND RATE IS GREATER THAN TARGET RATE, LEAVE
063730,000035:                                                                                                  #                        JETS ON AND GO TO INHIBITION LOGIC.  OTHERWISE, CONTINUE.
063731,000036:                                                                                                  #                IF JETS ARE FIRING POSITIVELY AND RATE IS   LESS  THAN TARGET RATE, LEAVE
063732,000037:                                                                                                  #                        JETS ON AND GO TO INHIBITION LOGIC.  OTHERWISE, CONTINUE.
063733,000038: 
063734,000039:                                                                                                  #        3. OUTER RATE LIMIT TEST (SPSSTART)
063735,000040:                                                                                                  #                IF MAGNITUDE OF EDOT IS GREATER THAN 1.73 DEG/SEC SET JET FIRING TIME
063736,000041:                                                                                                  #                        TO REDUCE RATE AND GO TO INHIBITION LOGIC.  OTHERWISE, CONTINUE.
063737,000042: 
063738,000043:                                                                                                  #        4. COAST ZONE TEST
063739,000044:                                                                                                  #                IF STATE (E,EDOT) IS BELOW LINE E + 4 X EDOT > -1.4 DEG AND EDOT IS LESS THAN 1.30 DEG/SEC SET JET TIME POSI-
063740,000045:                                                                                                  #                        TIVE AND CONTINUE.  OTHERWISE, SET JET FIRING TIME TO ZERO AND CONTINUE.
063741,000046:                                                                                                  #                IF STATE IS ABOVE LINE E + 4 X EDOT > +1.4 DEG AND EDOT IS GREATER THAN -1.30 DEG/SEC, SET JET TIME NEGATIVE
063742,000047:                                                                                                  #                        AND CONTINUE.  OTHERWISE, SET JET FIRING TIME TO ZERO AND CONTINUE.
063743,000048: 
063744,000049:                                                                                                  #        5. INHIBITION LOGIC
063745,000050:                                                                                                  #                IF OLDSENSE IS NON-ZERO:
063746,000051:                                                                                                  #                        A) RETURN IF JET TIME HAS SAME SIGN AS OLDSENSE
063747,000052:                                                                                                  #                        B) SET INHIBITION COUNTER* AND RETURN IF JET TIME IS ZERO
063748,000053:                                                                                                  #                        C) SET INHIBITION COUNTER,* SET JET TIME TO ZERO AND RETURN IF SIGN
063749,000054:                                                                                                  #                           OF JET TIME IS OPPOSITE TO THAT OF OLDSENSE
063750,000055:                                                                                                  #                IF OLDSENSE IS ZERO:
063751,000056:                                                                                                  #                        A) RETURN IF INHIBITION COUNTER IS NOT POSITIVE
063752,000057:                                                                                                  #                        B) SET JET TIME TO ZERO AND RETURN IF INHIBITION COUNTER IS POSITIVE
063753,000058:                                                                                                  #                *NOTE: INHIBITION COUNTERS CAN BE SET TO 4 OR 10 FOR THE P, AND UV AXES,
063754,000059:                                                                                                  #                RESPECTIVELY, IN SPSRCS.  THEY ARE DECREMENTED BY ONE AT THE BEGINNING OF

Page 1508

063756,000061:                                                                                                  #                EACH DAP PASS.
063757,000062: 
063758,000063:                                                                                                  #        THE MINIMUM PULSE WIDTH OF THIS CONTROLLER IS DETERMINED BY THE REPETITION RATE AT WHICH THIS ROUTINE IS CALLED
063759,000064:                                                                                                  #        AND IS NOMINALLY 100 MS FOR ALL AXES IN DRIFTING FLIGHT.  DURING POWERED FLIGHT THE MINIMUM IS 100 MS FOR THE
063760,000065:                                                                                                  #        P AXIS AND 200 MS FOR THE CONTROL OF THE U AND V AXES.
063761,000066: 
063762,000067:                                                                                                  #  CALLING SEQUENCE:
063763,000068:                                                                                                  #                INHINT
063764,000069:                                                                                                  #                TC      IBNKCALL
063765,000070:                                                                                                  #                CADR    SPSRCS
063766,000071: 
063767,000072:                                                                                                  #  EXIT:
063768,000073:                                                                                                  #                TC      Q
063769,000074: 
063770,000075:                                                                                                  #  ALARM/ABORT MODE:     NONE
063771,000076: 
063772,000077:                                                                                                  #  SUBROUTINES CALLED:   NONE
063773,000078: 
063774,000079:                                                                                                  #  INPUT:                E, EDOT
063775,000080:                                                                                                  #                        TJP, TJV, TJU           TJ MUST NOT BE NEGATIVE ZERO
063776,000081: 
063777,000082:                                                                                                  #  OUTPUT:               TJP, TJV, TJU
063778,000083: 
063779,000084: 21,3646                                           BANK     21                                    
063780,000085: 21,2000                                           SETLOC   DAPS4                                 
063781,000086: 21,2000                                           BANK                                           
063782,000087: 
063783,000088: 21,3646                                           COUNT*   $$/DAPBU                              
063784,000089: 
063785,000090: 21,3646  E6,1525                                  EBANK=   TJU                                   
063786,000091: 21,3646           00632        RATELIM2           OCT      00632                                 #  1.125 DEG/SEC
063787,000092: 21,3647           34736        POSTHRST           CA       HALF                                  
063788,000093: 
063789,000094: 21,3650           51505                           NDX      AXISCTR                               
063790,000095: 21,3651           55525                           TS       TJU                                   
063791,000096: 21,3652           11745                           CCS      OLDSENSE                              
063792,000097: 21,3653           13673                           TCF      POSCHECK                              #  JETS FIRING POSITIVELY
063793,000098: 21,3654           13676                           TCF      CTRCHECK                              #  JETS OFF.  CHECK INHIBITION CTR
063794,000099: 21,3655           51505        NEGCHECK           INDEX    AXISCTR                               #  JETS FIRING NEGATIVELY
063795,000100: 21,3656           41525                           CS       TJU                                   
063796,000101: 21,3657           10000                           CCS      A                                     
063797,000102: 21,3660           00002                           TC       Q                                     #  RETURN
063798,000103: 21,3661           13663                           TCF      +2                                    
063799,000104: 21,3662           13663                           TCF      +1                                    #  JETS COMMANDED OFF.  SET CTR AND RETURN
063800,000105: 21,3663           51505        SETCTR             INDEX    AXISCTR                               #  JET FIRING REVERSAL COMMANDED.  SET CTR,
063801,000106: 21,3664           33705                           CA       UTIME                                 #  SET JET TIME TO ZERO, AND RETURN

Page 1509

063803,000108: 21,3665           51505                           INDEX    AXISCTR                               
063804,000109: 21,3666           55770                           TS       UJETCTR                               
063805,000110: 21,3667           34755        ZAPTJ              CA       ZERO                                  
063806,000111: 21,3670           51505                           INDEX    AXISCTR                               
063807,000112: 21,3671           55525                           TS       TJU                                   
063808,000113: 21,3672           00002                           TC       Q                                     
063809,000114: 21,3673           51505        POSCHECK           INDEX    AXISCTR                               
063810,000115: 21,3674           31525                           CA       TJU                                   
063811,000116: 21,3675           13657                           TCF      NEGCHECK   +2                         
063812,000117: 21,3676           51505        CTRCHECK           INDEX    AXISCTR                               #  CHECK JET INHIBITION COUNTER
063813,000118: 21,3677           11770                           CCS      UJETCTR                               
063814,000119: 21,3700           13702                           TCF      +2                                    
063815,000120: 21,3701           00002                           TC       Q                                     #  CTR IS NOT POSITIVE.  RETURN
063816,000121: 21,3702           13667                           TCF      ZAPTJ                                 #  CTR IS POSITIVE.  INHIBIT FIRINGS
063817,000122: 21,3703           00002                           TC       Q                                     #  CTR IS NOT POSITIVE.  RETURN
063818,000123: 21,3704           00004                           OCT      00004                                 
063819,000124: 21,3705           00012        UTIME              OCT      00012                                 
063820,000125: 21,3706           00012                           OCT      00012                                 
063821,000126: 21,3707  E6,1745               OLDSENSE           EQUALS   DAPTREG1                              
063822,000127: 21,3707           44753        NEGFIRE            CS       ONE                                   #  JETS FIRING NEGATIVELY
063823,000128: 21,3710           55745                           TS       OLDSENSE                              
063824,000129: 21,3711           31427                           CA       EDOT                                  
063825,000130: 21,3712           13716                           TCF      +4                                    
063826,000131: 21,3713           34753        PLUSFIRE           CA       ONE                                   
063827,000132: 21,3714           55745                           TS       OLDSENSE                              
063828,000133: 21,3715           41427                           CS       EDOT                                  #  RATE DEAD BAND TEST
063829,000134: 21,3716           22000                           LXCH     A                                     
063830,000135: 21,3717           40111                           CS       DAPBOOLS                              #  IF DRIFTBIT = 1, USE ZERO TARGET RATE
063831,000136: 21,3720           74744                           MASK     DRIFTBIT                              #  IF DRIFTBIT = 0, USE 0.10 RATE TARGET
063832,000137: 21,3721           10000                           CCS      A                                     
063833,000138: 21,3722           34767                           CA       RATEDB1                               
063834,000139: 21,3723           60001                           AD       L                                     
063835,000140: 21,3724           00006                           EXTEND                                         
063836,000141: 21,3725           63735                           BZMF     SPSSTART                              
063837,000142: 21,3726           13652                           TCF      POSTHRST   +3                         
063838,000143: 
063839,000144: 21,3727           51505        SPSRCS             INDEX    AXISCTR                               #  JET SENSE TEST
063840,000145: 21,3730           11525                           CCS      TJU                                   
063841,000146: 21,3731           13713                           TCF      PLUSFIRE                              #  JETS FIRING POSITIVELY
063842,000147: 21,3732           13734                           TCF      +2                                    
063843,000148: 21,3733           13707                           TCF      NEGFIRE                               #  JETS FIRING NEGATIVELY
063844,000149: 21,3734           55745                           TS       OLDSENSE                              #  JETS OFF
063845,000150: 21,3735           31427        SPSSTART           CA       EDOT                                  #  OUTER RATE LIMIT TEST
063846,000151: 21,3736           00006                           EXTEND                                         
063847,000152: 21,3737           74766                           MP       RATELIM1                              
063848,000153: 21,3740           10000                           CCS      A                                     
063849,000154: 21,3741           13760                           TCF      NEGTHRST                              #  OUTER RATE LIMIT EXCEEDED
063850,000155: 21,3742           13744                           TCF      +2                                    
063851,000156: 21,3743           13647                           TCF      POSTHRST                              #  OUTER RATE LIMIT EXCEEDED
063852,000157: 21,3744           31427                           CA       EDOT                                  #  COAST ZONE TEST

Page 1510

063854,000159: 21,3745           61752                           AD       E                                     
063855,000160: 21,3746           00006                           EXTEND                                         
063856,000161: 21,3747           71411                           MP       DKDB                                  #  PAD LOADED DEADBAND.  FRESHSTART: 1.4 DEG
063857,000162: 21,3750           00006                           EXTEND                                         
063858,000163: 21,3751           13766                           BZF      TJZERO                                
063859,000164: 
063860,000165: 21,3752           00006                           EXTEND                                         
063861,000166: 21,3753           63762                           BZMF     +7                                    
063862,000167: 21,3754           31427                           CA       EDOT                                  
063863,000168: 21,3755           63646                           AD       RATELIM2                              
063864,000169: 21,3756           00006                           EXTEND                                         
063865,000170: 21,3757           63766                           BZMF     TJZERO                                
063866,000171: 21,3760           44736        NEGTHRST           CS       HALF                                  
063867,000172: 21,3761           13650                           TCF      POSTHRST   +1                         
063868,000173: 21,3762           43646                 +7        CS       RATELIM2                              
063869,000174: 21,3763           61427                           AD       EDOT                                  
063870,000175: 21,3764           00006                           EXTEND                                         
063871,000176: 21,3765           63647                           BZMF     POSTHRST                              
063872,000177: 21,3766           34755        TJZERO             CA       ZERO                                  
063873,000178: 21,3767           13650                           TCF      POSTHRST   +1                         
063874,000179: 
063875,000180: 21,3770     4766               RATELIM1           =        CALLCODE                              #  = 00032, CORRESPONDING TO 1.73 DEG/SEC
063876,000181: 21,3770     4767               RATEDB1            =        TBUILDFX                              #  = 00045, CORRESPONDS TO 0.101 DEG/SEC
063877,000182: 

End of include-file SPS_BACK-UP_RCS_CONTROL.agc.  Parent file is MAIN.agc