Source Code
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These source-code files are part of a reconstructed copy of LUM69 Revision 2, the
flown Apollo 10 Lunar Module (LM) Apollo Guidance Computer (AGC) software.
The reconstruction began with source code of Luminary 69 revision 0 previously
transcribed from a digitized copy of that program. The code was then updated
by back-porting the R-2 lunar potential model from previously-transcribed source
code of Luminary 99. These required changes were described in the original
Luminary memos 75 and 78. The reconstructed code 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 069 printout,
although the added code would likely have changed page numbers for a real LUM69
Revision 2 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.
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016275,000002: ## Copyright: Public domain.
016276,000003: ## Filename: KALCMANU_STEERING.agc
016277,000004: ## Purpose: A section of LUM69 revision 2.
016278,000005: ## It is part of the reconstructed source code for the flown
016279,000006: ## version of the flight software for the Lunar Module's (LM)
016280,000007: ## Apollo Guidance Computer (AGC) for Apollo 10. The code has
016281,000008: ## been recreated from a copy of Luminary revsion 069, using
016282,000009: ## changes present in Luminary 099 which were described in
016283,000010: ## Luminary memos 75 and 78. The code has been adapted such
016284,000011: ## that the resulting bugger words exactly match those specified
016285,000012: ## for LUM69 revision 2 in NASA drawing 2021152B, which gives
016286,000013: ## relatively high confidence that the reconstruction is correct.
016287,000014: ## Reference: pp. 378-382
016288,000015: ## Assembler: yaYUL
016289,000016: ## Contact: Ron Burkey <info@sandroid.org>.
016290,000017: ## Website: www.ibiblio.org/apollo/index.html
016291,000018: ## Mod history: 2019-07-27 MAS Created from Luminary 69.
016292,000019:
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Page 378
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016294,000021: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
016295,000022:
016296,000023: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
016297,000024:
016298,000025: 22,3003 E6,1705 EBANK= TTEMP
016299,000026:
016300,000027: 22,3003 04616 NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
016301,000028: 22,3004 54240 CADR ISITAUTO # ONLY
016302,000029: 22,3005 10000 CCS A
016303,000030: 22,3006 12730 TCF NOGO -2
016304,000031: 22,3007 06036 NEWANGL TC INTPRET
016305,000032: 22,3010 75160 AXC,1 AXC,2
016306,000033: 22,3011 03244 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
016307,000034: 22,3012 02234 KEL # STABLE MEMBER AXES
016308,000035: 22,3013 77624 CALL
016309,000036: 22,3014 44312 MXM3
016310,000037: 22,3015 45575 VLOAD STADR
016311,000038: 22,3016 50516 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
016312,000039: 22,3017 77626 STADR
016313,000040: 22,3020 50524 STOVL MIS +6D
016314,000041: 22,3021 77626 STADR
016315,000042: 22,3022 74532 STORE MIS
016316,000043: 22,3023 45160 AXC,1 CALL
016317,000044: 22,3024 03244 MIS
016318,000045: 22,3025 44654 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
016319,000046: 22,3026 77634 RTB
016320,000047: 22,3027 21524 V1STO2S
016321,000048: 22,3030 03302 STORE NCDU # NEW CDU ANGLES
016322,000049: 22,3031 77414 BONCLR EXIT
016323,000050: 22,3032 01215 CALCMAN2
016324,000051: 22,3033 45122 MANUSTAT # TO START MANEUVER
016325,000052: 22,3034 34752 CAF TWO # +0 OTHERWISE
016326,000053: 22,3035 55272 INCRDCDU TS SPNDX
016327,000054: 22,3036 51272 INDEX SPNDX
016328,000055: 22,3037 31674 CA BCDU # INITIAL CDU ANGLES
016329,000056: 22,3040 00006 EXTEND # OR PREVIOUS DESIRED CDU ANGLES
016330,000057: 22,3041 51272 INDEX SPNDX
016331,000058: 22,3042 21701 MSU NCDU
016332,000059: 22,3043 00006 EXTEND
016333,000060: 22,2000 SETLOC KALCMON1
016334,000061: 22,2000 BANK
016335,000062:
016336,000063: 22,3044 73121 MP DT/TAU
016337,000064: 22,3045 10000 CCS A # CONVERT TO 2S COMPLEMENT
016338,000065: 22,3046 64753 AD ONE
016339,000066: 22,3047 13051 TCF +2
016340,000067: 22,3050 40000 COM
016341,000068: 22,3051 51272 INDEX SPNDX
016342,000069: 22,3052 55636 TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
016343,000070: 22,3053 51272 INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
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Page 379
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016345,000072: 22,3054 31701 CA NCDU # BY LEM DAP
016346,000073: 22,3055 51272 INDEX SPNDX
016347,000074: 22,3056 57674 XCH BCDU
016348,000075: 22,3057 51272 INDEX SPNDX
016349,000076: 22,3060 55633 TS CDUXD
016350,000077: 22,3061 11272 CCS SPNDX
016351,000078: 22,3062 13035 TCF INCRDCDU # LOOP FOR THREE AXES
016352,000079:
016353,000080: 22,3063 00003 RELINT
016354,000081:
016355,000082: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
016356,000083:
016357,000084: 22,3064 03075 TMANUCHK TC TIMECHK
016358,000085: 22,3065 13170 TCF CONTMANU
016359,000086: 22,3066 34753 CAF ONE
016360,000087: 22,3067 00004 MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC
016361,000088: 22,3070 05203 TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP
016362,000089: 22,3071 E6,1705 EBANK= TTEMP
016363,000090: 22,3071 03213 44066 2CADR MANUSTOP
016364,000091:
016365,000092: 22,3073 00003 RELINT
016366,000093: 22,3074 15155 TCF ENDOFJOB
016367,000094:
016368,000095: 22,3075 00006 TIMECHK EXTEND
016369,000096: 22,3076 40025 DCS TIME2
016370,000097: 22,3077 53706 DXCH TTEMP
016371,000098: 22,3100 00006 EXTEND
016372,000099: 22,3101 31732 DCA TM
016373,000100: 22,3102 21706 DAS TTEMP
016374,000101: 22,3103 11705 CCS TTEMP
016375,000102: 22,3104 00002 TC Q
016376,000103: 22,3105 13107 TCF +2
016377,000104: 22,3106 13117 TCF 2NDRETRN
016378,000105: 22,3107 11706 CCS TTEMP +1
016379,000106: 22,3110 00002 TC Q
016380,000107: 22,3111 13113 TCF MANUOFF
016381,000108: 22,3112 40000 COM
016382,000109: 22,3113 63166 MANUOFF AD ONESEK +1
016383,000110: 22,3114 00006 EXTEND
016384,000111: 22,3115 63117 BZMF 2NDRETRN
016385,000112: 22,3116 24002 INCR Q
016386,000113: 22,3117 24002 2NDRETRN INCR Q
016387,000114: 22,3120 00002 TC Q
016388,000115:
016389,000116: 22,3121 03146 DT/TAU DEC .1
016390,000117:
016391,000118: 22,3122 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
016392,000119: 22,3123 00006 EXTEND # FOR AUTOMATIC MANEUVERS
016393,000120: 22,3124 30025 DCA TIME2
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Page 380
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016395,000122: 22,3125 21732 DAS TM # TM+T0 MANEUVER COMPLETION TIME
016396,000123: 22,3126 00006 EXTEND
016397,000124: 22,3127 43166 DCS ONESEK
016398,000125: 22,3130 21732 DAS TM # (TM+T0)-1
016399,000126: 22,3131 00004 INHINT
016400,000127: 22,3132 34752 CAF TWO
016401,000128: 22,3133 55677 RATEBIAS TS KSPNDX
016402,000129: 22,3134 60000 DOUBLE
016403,000130: 22,3135 55700 TS KDPNDX
016404,000131: 22,3136 50000 INDEX A
016405,000132: 22,3137 31723 CA BRATE
016406,000133: 22,3140 51677 INDEX KSPNDX # STORE MANEUVER RATE IN
016407,000134: 22,3141 55641 TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD
016408,000135: 22,3142 00006 EXTEND
016409,000136: 22,3143 63145 BZMF +2 # COMPUTE ATTITUDE ERROR
016410,000137: 22,3144 40000 COM # OFFSET = (WX)ABS(WX)/2AJX
016411,000138: 22,3145 00006 EXTEND # WHERE AJX= 2-JET ACCELERATION
016412,000139: 22,3146 73167 MP BIASCALE # = -1/16
016413,000140: 22,3147 00006 EXTEND
016414,000141: 22,3150 51700 INDEX KDPNDX
016415,000142: 22,3151 71723 MP BRATE
016416,000143: 22,3152 00006 EXTEND
016417,000144: 22,3153 51677 INDEX KSPNDX
016418,000145: 22,3154 11530 DV 1JACC # = AJX $ 90 DEG/SEC-SEC
016419,000146: 22,3155 51677 INDEX KSPNDX
016420,000147: 22,3156 55277 TS DELPEROR # $ 180 DEG
016421,000148: 22,3157 11677 CCS KSPNDX
016422,000149: 22,3160 13133 TCF RATEBIAS
016423,000150:
016424,000151: 22,3161 30025 CA TIME1
016425,000152: 22,3162 63166 AD ONESEK +1
016426,000153: 22,3163 57704 XCH NEXTIME
016427,000154: 22,3164 13034 TCF INCRDCDU -1
016428,000155:
016429,000156: 22,3165 00000 ONESEK DEC 0 B-14
016430,000157: 22,3166 00144 DEC 100 B-14
016431,000158:
016432,000159: 22,3167 75777 BIASCALE OCT 75777 # = -1/16
016433,000160:
016434,000161: 22,3170 40025 CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
016435,000162: 22,3171 61704 AD NEXTIME
016436,000163: 22,3172 10000 CCS A
016437,000164: 22,3173 64753 AD ONE
016438,000165: 22,3174 13177 TCF MANUCALL
016439,000166: 22,3175 64735 AD NEGMAX
016440,000167: 22,3176 40000 COM
016441,000168: 22,3177 00004 MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
016442,000169: 22,3200 05203 TC WAITLIST
016443,000170: 22,3201 E6,1705 EBANK= TTEMP
016444,000171: 22,3201 03206 44066 2CADR UPDTCALL
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Page 381
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016446,000173: 22,3203 33166 CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
016447,000174: 22,3204 27704 ADS NEXTIME
016448,000175: 22,3205 15155 TCF ENDOFJOB
016449,000176:
016450,000177: 22,3206 37713 UPDTCALL CAF PRIO26 # SATELLITE PROGRAM TO CALL FOR UPDATE
016451,000178: 22,3207 05105 TC FINDVAC # OF STEERING COMMANDS
016452,000179: 22,3210 E6,1705 EBANK= TTEMP
016453,000180: 22,3210 03003 44066 2CADR NEWDELHI
016454,000181:
016455,000182: 22,3212 05261 TC TASKOVER
016456,000183:
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Page 382
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016458,000185: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
016459,000186:
016460,000187: 22,3213 34755 MANUSTOP CAF ZERO # ZERO MANEUVER RATES
016461,000188: 22,3214 55640 TS DELDCDU2
016462,000189: 22,3215 55643 TS OMEGARD
016463,000190: 22,3216 55301 TS DELREROR
016464,000191: 22,3217 55637 TS DELDCDU1
016465,000192: 22,3220 55642 TS OMEGAQD
016466,000193: 22,3221 55300 TS DELQEROR
016467,000194: 22,3222 30323 CA CPSI # SET DESIRED GIMBAL ANGLES TO
016468,000195: 22,3223 55635 TS CDUZD # DESIRED FINAL GIMBAL ANGLES
016469,000196: 22,3224 30322 CA CTHETA
016470,000197: 22,3225 55634 TS CDUYD
016471,000198: 22,3226 30321 ENDROLL CA CPHI # NO FINAL YAW
016472,000199: 22,3227 55633 TS CDUXD
016473,000200: 22,3230 34755 CAF ZERO
016474,000201: 22,3231 55641 TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU
016475,000202: 22,3232 55636 TS DELDCDU # GIMBAL LOCK ORIGINALLY
016476,000203: 22,3233 55277 TS DELPEROR
016477,000204: 22,3234 31311 GOODMANU CA ATTPRIO # RESTORE USERS PRIO
016478,000205: 22,3235 54063 TS NEWPRIO
016479,000206:
016480,000207: 22,3236 34755 CA ZERO # ZERO ATTCADR
016481,000208: 22,3237 53310 DXCH ATTCADR
016482,000209:
016483,000210: 22,3240 05116 TC SPVAC # RETURN TO USER
016484,000211:
016485,000212: 22,3241 05261 TC TASKOVER
016486,000213:
016487,000214:
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc