Source Code
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These source-code files are part of a reconstructed copy of Luminary 97, the
original release 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 memos 83 and 85, using asterisks
indicating changed lines in the listing as a guide. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
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 97 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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014986,000002: ## Copyright: Public domain.
014987,000003: ## Filename: KALCMANU_STEERING.agc
014988,000004: ## Purpose: A section of Luminary revision 97.
014989,000005: ## It is part of the reconstructed source code for the
014990,000006: ## original release of the flight software for the Lunar
014991,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
014992,000008: ## The code has been recreated from a copy of Luminary 99
014993,000009: ## revision 001, using asterisks indicating changed lines in
014994,000010: ## the listing and Luminary Memos #83 and #85, which list
014995,000011: ## changes between Luminary 97 and 98, and 98 and 99. The
014996,000012: ## code has been adapted such that the resulting bugger words
014997,000013: ## exactly match those specified for Luminary 97 in NASA drawing
014998,000014: ## 2021152D, which gives relatively high confidence that the
014999,000015: ## reconstruction is correct.
015000,000016: ## Reference: pp. 365-369
015001,000017: ## Assembler: yaYUL
015002,000018: ## Contact: Ron Burkey <info@sandroid.org>.
015003,000019: ## Website: www.ibiblio.org/apollo/index.html
015004,000020: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
015005,000021:
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Page 365
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015007,000023: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
015008,000024:
015009,000025: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
015010,000026:
015011,000027: 22,3003 E6,1707 EBANK= TTEMP
015012,000028:
015013,000029: 22,3003 04616 NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
015014,000030: 22,3004 54262 CADR ISITAUTO # ONLY
015015,000031: 22,3005 10000 CCS A
015016,000032: 22,3006 12730 TCF NOGO -2
015017,000033: 22,3007 06037 NEWANGL TC INTPRET
015018,000034: 22,3010 75160 AXC,1 AXC,2
015019,000035: 22,3011 03246 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
015020,000036: 22,3012 02230 KEL # STABLE MEMBER AXES
015021,000037: 22,3013 77624 CALL
015022,000038: 22,3014 44312 MXM3
015023,000039: 22,3015 45575 VLOAD STADR
015024,000040: 22,3016 50514 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
015025,000041: 22,3017 77626 STADR
015026,000042: 22,3020 50522 STOVL MIS +6D
015027,000043: 22,3021 77626 STADR
015028,000044: 22,3022 74530 STORE MIS
015029,000045: 22,3023 45160 AXC,1 CALL
015030,000046: 22,3024 03246 MIS
015031,000047: 22,3025 44654 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
015032,000048: 22,3026 77634 RTB
015033,000049: 22,3027 21620 V1STO2S
015034,000050: 22,3030 03304 STORE NCDU # NEW CDU ANGLES
015035,000051: 22,3031 77414 BONCLR EXIT
015036,000052: 22,3032 01215 CALCMAN2
015037,000053: 22,3033 45122 MANUSTAT # TO START MANEUVER
015038,000054: 22,3034 34752 CAF TWO # +0 OTHERWISE
015039,000055: 22,3035 55272 INCRDCDU TS SPNDX
015040,000056: 22,3036 51272 INDEX SPNDX
015041,000057: 22,3037 31676 CA BCDU # INITIAL CDU ANGLES
015042,000058: 22,3040 00006 EXTEND # OR PREVIOUS DESIRED CDU ANGLES
015043,000059: 22,3041 51272 INDEX SPNDX
015044,000060: 22,3042 21703 MSU NCDU
015045,000061: 22,3043 00006 EXTEND
015046,000062: 22,2000 SETLOC KALCMON1
015047,000063: 22,2000 BANK
015048,000064:
015049,000065: 22,3044 73121 MP DT/TAU
015050,000066: 22,3045 10000 CCS A # CONVERT TO 2S COMPLEMENT
015051,000067: 22,3046 64753 AD ONE
015052,000068: 22,3047 13051 TCF +2
015053,000069: 22,3050 40000 COM
015054,000070: 22,3051 51272 INDEX SPNDX
015055,000071: 22,3052 55640 TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
015056,000072: 22,3053 51272 INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
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Page 366
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015058,000074: 22,3054 31703 CA NCDU # BY LEM DAP
015059,000075: 22,3055 51272 INDEX SPNDX
015060,000076: 22,3056 57676 XCH BCDU
015061,000077: 22,3057 51272 INDEX SPNDX
015062,000078: 22,3060 55635 TS CDUXD
015063,000079: 22,3061 11272 CCS SPNDX
015064,000080: 22,3062 13035 TCF INCRDCDU # LOOP FOR THREE AXES
015065,000081:
015066,000082: 22,3063 00003 RELINT
015067,000083:
015068,000084: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
015069,000085:
015070,000086: 22,3064 03075 TMANUCHK TC TIMECHK
015071,000087: 22,3065 13170 TCF CONTMANU
015072,000088: 22,3066 34753 CAF ONE
015073,000089: 22,3067 00004 MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC
015074,000090: 22,3070 05203 TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP
015075,000091: 22,3071 E6,1707 EBANK= TTEMP
015076,000092: 22,3071 03213 44066 2CADR MANUSTOP
015077,000093:
015078,000094: 22,3073 00003 RELINT
015079,000095: 22,3074 15155 TCF ENDOFJOB
015080,000096:
015081,000097: 22,3075 00006 TIMECHK EXTEND
015082,000098: 22,3076 40025 DCS TIME2
015083,000099: 22,3077 53710 DXCH TTEMP
015084,000100: 22,3100 00006 EXTEND
015085,000101: 22,3101 31734 DCA TM
015086,000102: 22,3102 21710 DAS TTEMP
015087,000103: 22,3103 11707 CCS TTEMP
015088,000104: 22,3104 00002 TC Q
015089,000105: 22,3105 13107 TCF +2
015090,000106: 22,3106 13117 TCF 2NDRETRN
015091,000107: 22,3107 11710 CCS TTEMP +1
015092,000108: 22,3110 00002 TC Q
015093,000109: 22,3111 13113 TCF MANUOFF
015094,000110: 22,3112 40000 COM
015095,000111: 22,3113 63166 MANUOFF AD ONESEK +1
015096,000112: 22,3114 00006 EXTEND
015097,000113: 22,3115 63117 BZMF 2NDRETRN
015098,000114: 22,3116 24002 INCR Q
015099,000115: 22,3117 24002 2NDRETRN INCR Q
015100,000116: 22,3120 00002 TC Q
015101,000117:
015102,000118: 22,3121 03146 DT/TAU DEC .1
015103,000119:
015104,000120: 22,3122 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
015105,000121: 22,3123 00006 EXTEND # FOR AUTOMATIC MANEUVERS
015106,000122: 22,3124 30025 DCA TIME2
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Page 367
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015108,000124: 22,3125 21734 DAS TM # TM+T0 MANEUVER COMPLETION TIME
015109,000125: 22,3126 00006 EXTEND
015110,000126: 22,3127 43166 DCS ONESEK
015111,000127: 22,3130 21734 DAS TM # (TM+T0)-1
015112,000128: 22,3131 00004 INHINT
015113,000129: 22,3132 34752 CAF TWO
015114,000130: 22,3133 55701 RATEBIAS TS KSPNDX
015115,000131: 22,3134 60000 DOUBLE
015116,000132: 22,3135 55702 TS KDPNDX
015117,000133: 22,3136 50000 INDEX A
015118,000134: 22,3137 31725 CA BRATE
015119,000135: 22,3140 51701 INDEX KSPNDX # STORE MANEUVER RATE IN
015120,000136: 22,3141 55643 TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD
015121,000137: 22,3142 00006 EXTEND
015122,000138: 22,3143 63145 BZMF +2 # COMPUTE ATTITUDE ERROR
015123,000139: 22,3144 40000 COM # OFFSET = (WX)ABS(WX)/2AJX
015124,000140: 22,3145 00006 EXTEND # WHERE AJX= 2-JET ACCELERATION
015125,000141: 22,3146 73167 MP BIASCALE # = -1/16
015126,000142: 22,3147 00006 EXTEND
015127,000143: 22,3150 51702 INDEX KDPNDX
015128,000144: 22,3151 71725 MP BRATE
015129,000145: 22,3152 00006 EXTEND
015130,000146: 22,3153 51701 INDEX KSPNDX
015131,000147: 22,3154 11530 DV 1JACC # = AJX $ 90 DEG/SEC-SEC
015132,000148: 22,3155 51701 INDEX KSPNDX
015133,000149: 22,3156 55277 TS DELPEROR # $ 180 DEG
015134,000150: 22,3157 11701 CCS KSPNDX
015135,000151: 22,3160 13133 TCF RATEBIAS
015136,000152:
015137,000153: 22,3161 30025 CA TIME1
015138,000154: 22,3162 63166 AD ONESEK +1
015139,000155: 22,3163 57706 XCH NEXTIME
015140,000156: 22,3164 13034 TCF INCRDCDU -1
015141,000157:
015142,000158: 22,3165 00000 ONESEK DEC 0 B-14
015143,000159: 22,3166 00144 DEC 100 B-14
015144,000160:
015145,000161: 22,3167 75777 BIASCALE OCT 75777 # = -1/16
015146,000162:
015147,000163: 22,3170 40025 CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
015148,000164: 22,3171 61706 AD NEXTIME
015149,000165: 22,3172 10000 CCS A
015150,000166: 22,3173 64753 AD ONE
015151,000167: 22,3174 13177 TCF MANUCALL
015152,000168: 22,3175 64735 AD NEGMAX
015153,000169: 22,3176 40000 COM
015154,000170: 22,3177 00004 MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
015155,000171: 22,3200 05203 TC WAITLIST
015156,000172: 22,3201 E6,1707 EBANK= TTEMP
015157,000173: 22,3201 03206 44066 2CADR UPDTCALL
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Page 368
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015159,000175: 22,3203 33166 CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
015160,000176: 22,3204 27706 ADS NEXTIME
015161,000177: 22,3205 15155 TCF ENDOFJOB
015162,000178:
015163,000179: 22,3206 37714 UPDTCALL CAF PRIO26 # SATELLITE PROGRAM TO CALL FOR UPDATE
015164,000180: 22,3207 05105 TC FINDVAC # OF STEERING COMMANDS
015165,000181: 22,3210 E6,1707 EBANK= TTEMP
015166,000182: 22,3210 03003 44066 2CADR NEWDELHI
015167,000183:
015168,000184: 22,3212 05261 TC TASKOVER
015169,000185:
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Page 369
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015171,000187: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
015172,000188:
015173,000189: 22,3213 34755 MANUSTOP CAF ZERO # ZERO MANEUVER RATES
015174,000190: 22,3214 55642 TS DELDCDU2
015175,000191: 22,3215 55645 TS OMEGARD
015176,000192: 22,3216 55301 TS DELREROR
015177,000193: 22,3217 55641 TS DELDCDU1
015178,000194: 22,3220 55644 TS OMEGAQD
015179,000195: 22,3221 55300 TS DELQEROR
015180,000196: 22,3222 30323 CA CPSI # SET DESIRED GIMBAL ANGLES TO
015181,000197: 22,3223 55637 TS CDUZD # DESIRED FINAL GIMBAL ANGLES
015182,000198: 22,3224 30322 CA CTHETA
015183,000199: 22,3225 55636 TS CDUYD
015184,000200: 22,3226 30321 ENDROLL CA CPHI # NO FINAL YAW
015185,000201: 22,3227 55635 TS CDUXD
015186,000202: 22,3230 34755 CAF ZERO
015187,000203: 22,3231 55643 TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU
015188,000204: 22,3232 55640 TS DELDCDU # GIMBAL LOCK ORIGINALLY
015189,000205: 22,3233 55277 TS DELPEROR
015190,000206: 22,3234 31311 GOODMANU CA ATTPRIO # RESTORE USERS PRIO
015191,000207: 22,3235 54063 TS NEWPRIO
015192,000208:
015193,000209: 22,3236 34755 CA ZERO # ZERO ATTCADR
015194,000210: 22,3237 53310 DXCH ATTCADR
015195,000211:
015196,000212: 22,3240 05116 TC SPVAC # RETURN TO USER
015197,000213:
015198,000214: 22,3241 05261 TC TASKOVER
015199,000215:
015200,000216:
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc