Source Code
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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.
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014903,000002: ## Copyright: Public domain.
014904,000003: ## Filename: KALCMANU_STEERING.agc
014905,000004: ## Purpose: A section of Luminary revision 98.
014906,000005: ## It is part of the reconstructed source code for the a
014907,000006: ## development version of the flight software for the Lunar
014908,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
014909,000008: ## The code has been recreated from a copy of Luminary 99
014910,000009: ## revision 001, using asterisks indicating changed lines in
014911,000010: ## the listing and Luminary Memo #85, which lists changes between
014912,000011: ## Luminary 98 and 99.
014913,000012: ## Reference: pp. 365-369
014914,000013: ## Assembler: yaYUL
014915,000014: ## Contact: Ron Burkey <info@sandroid.org>.
014916,000015: ## Website: www.ibiblio.org/apollo/index.html
014917,000016: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
014918,000017:
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Page 365
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014920,000019: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
014921,000020:
014922,000021: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
014923,000022:
014924,000023: 22,3003 E6,1707 EBANK= TTEMP
014925,000024:
014926,000025: 22,3003 04616 NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
014927,000026: 22,3004 54262 CADR ISITAUTO # ONLY
014928,000027: 22,3005 10000 CCS A
014929,000028: 22,3006 12730 TCF NOGO -2
014930,000029: 22,3007 06037 NEWANGL TC INTPRET
014931,000030: 22,3010 75160 AXC,1 AXC,2
014932,000031: 22,3011 03246 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
014933,000032: 22,3012 02230 KEL # STABLE MEMBER AXES
014934,000033: 22,3013 77624 CALL
014935,000034: 22,3014 44312 MXM3
014936,000035: 22,3015 45575 VLOAD STADR
014937,000036: 22,3016 50514 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
014938,000037: 22,3017 77626 STADR
014939,000038: 22,3020 50522 STOVL MIS +6D
014940,000039: 22,3021 77626 STADR
014941,000040: 22,3022 74530 STORE MIS
014942,000041: 22,3023 45160 AXC,1 CALL
014943,000042: 22,3024 03246 MIS
014944,000043: 22,3025 44654 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
014945,000044: 22,3026 77634 RTB
014946,000045: 22,3027 21620 V1STO2S
014947,000046: 22,3030 03304 STORE NCDU # NEW CDU ANGLES
014948,000047: 22,3031 77414 BONCLR EXIT
014949,000048: 22,3032 01215 CALCMAN2
014950,000049: 22,3033 45122 MANUSTAT # TO START MANEUVER
014951,000050: 22,3034 34752 CAF TWO # +0 OTHERWISE
014952,000051: 22,3035 55272 INCRDCDU TS SPNDX
014953,000052: 22,3036 51272 INDEX SPNDX
014954,000053: 22,3037 31676 CA BCDU # INITIAL CDU ANGLES
014955,000054: 22,3040 00006 EXTEND # OR PREVIOUS DESIRED CDU ANGLES
014956,000055: 22,3041 51272 INDEX SPNDX
014957,000056: 22,3042 21703 MSU NCDU
014958,000057: 22,3043 00006 EXTEND
014959,000058: 22,2000 SETLOC KALCMON1
014960,000059: 22,2000 BANK
014961,000060:
014962,000061: 22,3044 73121 MP DT/TAU
014963,000062: 22,3045 10000 CCS A # CONVERT TO 2S COMPLEMENT
014964,000063: 22,3046 64753 AD ONE
014965,000064: 22,3047 13051 TCF +2
014966,000065: 22,3050 40000 COM
014967,000066: 22,3051 51272 INDEX SPNDX
014968,000067: 22,3052 55640 TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
014969,000068: 22,3053 51272 INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
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Page 366
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014971,000070: 22,3054 31703 CA NCDU # BY LEM DAP
014972,000071: 22,3055 51272 INDEX SPNDX
014973,000072: 22,3056 57676 XCH BCDU
014974,000073: 22,3057 51272 INDEX SPNDX
014975,000074: 22,3060 55635 TS CDUXD
014976,000075: 22,3061 11272 CCS SPNDX
014977,000076: 22,3062 13035 TCF INCRDCDU # LOOP FOR THREE AXES
014978,000077:
014979,000078: 22,3063 00003 RELINT
014980,000079:
014981,000080: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
014982,000081:
014983,000082: 22,3064 03075 TMANUCHK TC TIMECHK
014984,000083: 22,3065 13170 TCF CONTMANU
014985,000084: 22,3066 34753 CAF ONE
014986,000085: 22,3067 00004 MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC
014987,000086: 22,3070 05203 TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP
014988,000087: 22,3071 E6,1707 EBANK= TTEMP
014989,000088: 22,3071 03213 44066 2CADR MANUSTOP
014990,000089:
014991,000090: 22,3073 00003 RELINT
014992,000091: 22,3074 15155 TCF ENDOFJOB
014993,000092:
014994,000093: 22,3075 00006 TIMECHK EXTEND
014995,000094: 22,3076 40025 DCS TIME2
014996,000095: 22,3077 53710 DXCH TTEMP
014997,000096: 22,3100 00006 EXTEND
014998,000097: 22,3101 31734 DCA TM
014999,000098: 22,3102 21710 DAS TTEMP
015000,000099: 22,3103 11707 CCS TTEMP
015001,000100: 22,3104 00002 TC Q
015002,000101: 22,3105 13107 TCF +2
015003,000102: 22,3106 13117 TCF 2NDRETRN
015004,000103: 22,3107 11710 CCS TTEMP +1
015005,000104: 22,3110 00002 TC Q
015006,000105: 22,3111 13113 TCF MANUOFF
015007,000106: 22,3112 40000 COM
015008,000107: 22,3113 63166 MANUOFF AD ONESEK +1
015009,000108: 22,3114 00006 EXTEND
015010,000109: 22,3115 63117 BZMF 2NDRETRN
015011,000110: 22,3116 24002 INCR Q
015012,000111: 22,3117 24002 2NDRETRN INCR Q
015013,000112: 22,3120 00002 TC Q
015014,000113:
015015,000114: 22,3121 03146 DT/TAU DEC .1
015016,000115:
015017,000116: 22,3122 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
015018,000117: 22,3123 00006 EXTEND # FOR AUTOMATIC MANEUVERS
015019,000118: 22,3124 30025 DCA TIME2
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Page 367
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015021,000120: 22,3125 21734 DAS TM # TM+T0 MANEUVER COMPLETION TIME
015022,000121: 22,3126 00006 EXTEND
015023,000122: 22,3127 43166 DCS ONESEK
015024,000123: 22,3130 21734 DAS TM # (TM+T0)-1
015025,000124: 22,3131 00004 INHINT
015026,000125: 22,3132 34752 CAF TWO
015027,000126: 22,3133 55701 RATEBIAS TS KSPNDX
015028,000127: 22,3134 60000 DOUBLE
015029,000128: 22,3135 55702 TS KDPNDX
015030,000129: 22,3136 50000 INDEX A
015031,000130: 22,3137 31725 CA BRATE
015032,000131: 22,3140 51701 INDEX KSPNDX # STORE MANEUVER RATE IN
015033,000132: 22,3141 55643 TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD
015034,000133: 22,3142 00006 EXTEND
015035,000134: 22,3143 63145 BZMF +2 # COMPUTE ATTITUDE ERROR
015036,000135: 22,3144 40000 COM # OFFSET = (WX)ABS(WX)/2AJX
015037,000136: 22,3145 00006 EXTEND # WHERE AJX= 2-JET ACCELERATION
015038,000137: 22,3146 73167 MP BIASCALE # = -1/16
015039,000138: 22,3147 00006 EXTEND
015040,000139: 22,3150 51702 INDEX KDPNDX
015041,000140: 22,3151 71725 MP BRATE
015042,000141: 22,3152 00006 EXTEND
015043,000142: 22,3153 51701 INDEX KSPNDX
015044,000143: 22,3154 11530 DV 1JACC # = AJX $ 90 DEG/SEC-SEC
015045,000144: 22,3155 51701 INDEX KSPNDX
015046,000145: 22,3156 55277 TS DELPEROR # $ 180 DEG
015047,000146: 22,3157 11701 CCS KSPNDX
015048,000147: 22,3160 13133 TCF RATEBIAS
015049,000148:
015050,000149: 22,3161 30025 CA TIME1
015051,000150: 22,3162 63166 AD ONESEK +1
015052,000151: 22,3163 57706 XCH NEXTIME
015053,000152: 22,3164 13034 TCF INCRDCDU -1
015054,000153:
015055,000154: 22,3165 00000 ONESEK DEC 0 B-14
015056,000155: 22,3166 00144 DEC 100 B-14
015057,000156:
015058,000157: 22,3167 75777 BIASCALE OCT 75777 # = -1/16
015059,000158:
015060,000159: 22,3170 40025 CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
015061,000160: 22,3171 61706 AD NEXTIME
015062,000161: 22,3172 10000 CCS A
015063,000162: 22,3173 64753 AD ONE
015064,000163: 22,3174 13177 TCF MANUCALL
015065,000164: 22,3175 64735 AD NEGMAX
015066,000165: 22,3176 40000 COM
015067,000166: 22,3177 00004 MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
015068,000167: 22,3200 05203 TC WAITLIST
015069,000168: 22,3201 E6,1707 EBANK= TTEMP
015070,000169: 22,3201 03206 44066 2CADR UPDTCALL
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Page 368
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015072,000171: 22,3203 33166 CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
015073,000172: 22,3204 27706 ADS NEXTIME
015074,000173: 22,3205 15155 TCF ENDOFJOB
015075,000174:
015076,000175: 22,3206 37714 UPDTCALL CAF PRIO26 # SATELLITE PROGRAM TO CALL FOR UPDATE
015077,000176: 22,3207 05105 TC FINDVAC # OF STEERING COMMANDS
015078,000177: 22,3210 E6,1707 EBANK= TTEMP
015079,000178: 22,3210 03003 44066 2CADR NEWDELHI
015080,000179:
015081,000180: 22,3212 05261 TC TASKOVER
015082,000181:
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Page 369
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015084,000183: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
015085,000184:
015086,000185: 22,3213 34755 MANUSTOP CAF ZERO # ZERO MANEUVER RATES
015087,000186: 22,3214 55642 TS DELDCDU2
015088,000187: 22,3215 55645 TS OMEGARD
015089,000188: 22,3216 55301 TS DELREROR
015090,000189: 22,3217 55641 TS DELDCDU1
015091,000190: 22,3220 55644 TS OMEGAQD
015092,000191: 22,3221 55300 TS DELQEROR
015093,000192: 22,3222 30323 CA CPSI # SET DESIRED GIMBAL ANGLES TO
015094,000193: 22,3223 55637 TS CDUZD # DESIRED FINAL GIMBAL ANGLES
015095,000194: 22,3224 30322 CA CTHETA
015096,000195: 22,3225 55636 TS CDUYD
015097,000196: 22,3226 30321 ENDROLL CA CPHI # NO FINAL YAW
015098,000197: 22,3227 55635 TS CDUXD
015099,000198: 22,3230 34755 CAF ZERO
015100,000199: 22,3231 55643 TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU
015101,000200: 22,3232 55640 TS DELDCDU # GIMBAL LOCK ORIGINALLY
015102,000201: 22,3233 55277 TS DELPEROR
015103,000202: 22,3234 31311 GOODMANU CA ATTPRIO # RESTORE USERS PRIO
015104,000203: 22,3235 54063 TS NEWPRIO
015105,000204:
015106,000205: 22,3236 34755 CA ZERO # ZERO ATTCADR
015107,000206: 22,3237 53310 DXCH ATTCADR
015108,000207:
015109,000208: 22,3240 05116 TC SPVAC # RETURN TO USER
015110,000209:
015111,000210: 22,3241 05261 TC TASKOVER
015112,000211:
015113,000212:
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc