Source Code
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These source-code files are part of a reconstructed copy of Luminary 163, the
first (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with reconstructed source code for Luminary 173. Changes
between revision 163 and 173 were backed out, as described by Luminary memos 157
and 158. The reconstruction was verified by matching memory-bank checksums
to those listed in drawing 2021152N. Note that page numbers in the reconstructed
code match those for the baseline log section mentioned in each file's changelog;
the page numbers for a real Luminary 163 listing would be different.
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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015793,000002: ## Copyright: Public domain.
015794,000003: ## Filename: KALCMANU_STEERING.agc
015795,000004: ## Purpose: A section of Luminary revision 163.
015796,000005: ## It is part of the reconstructed source code for the first
015797,000006: ## (unflown) release of the flight software for the Lunar
015798,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
015799,000008: ## The code has been recreated from a reconstructed copy of
015800,000009: ## Luminary 173, as well as Luminary memos 157 amd 158.
015801,000010: ## It has been adapted such that the resulting bugger words
015802,000011: ## exactly match those specified for Luminary 163 in NASA
015803,000012: ## drawing 2021152N, which gives relatively high confidence
015804,000013: ## that the reconstruction is correct.
015805,000014: ## Reference: pp. 370-374
015806,000015: ## Assembler: yaYUL
015807,000016: ## Contact: Ron Burkey <info@sandroid.org>.
015808,000017: ## Website: www.ibiblio.org/apollo/index.html
015809,000018: ## Mod history: 2019-08-21 MAS Created from Luminary 173.
015810,000019:
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Page 370
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015812,000021: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
015813,000022:
015814,000023: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
015815,000024:
015816,000025: 22,3003 E6,1706 EBANK= TTEMP
015817,000026:
015818,000027: 22,3003 04616 NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
015819,000028: 22,3004 54270 CADR ISITAUTO # ONLY
015820,000029: 22,3005 10000 CCS A
015821,000030: 22,3006 12730 TCF NOGO -2
015822,000031: 22,3007 06042 NEWANGL TC INTPRET
015823,000032: 22,3010 75160 AXC,1 AXC,2
015824,000033: 22,3011 03245 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
015825,000034: 22,3012 02230 KEL # STABLE MEMBER AXES
015826,000035: 22,3013 77624 CALL
015827,000036: 22,3014 44312 MXM3
015828,000037: 22,3015 45575 VLOAD STADR
015829,000038: 22,3016 50515 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
015830,000039: 22,3017 77626 STADR
015831,000040: 22,3020 50523 STOVL MIS +6D
015832,000041: 22,3021 77626 STADR
015833,000042: 22,3022 74531 STORE MIS
015834,000043: 22,3023 45160 AXC,1 CALL
015835,000044: 22,3024 03245 MIS
015836,000045: 22,3025 44654 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
015837,000046: 22,3026 77634 RTB
015838,000047: 22,3027 21621 V1STO2S
015839,000048: 22,3030 03303 STORE NCDU # NEW CDU ANGLES
015840,000049: 22,3031 77414 BONCLR EXIT
015841,000050: 22,3032 01215 CALCMAN2
015842,000051: 22,3033 45122 MANUSTAT # TO START MANEUVER
015843,000052: 22,3034 34752 CAF TWO # +0 OTHERWISE
015844,000053: 22,3035 55261 INCRDCDU TS SPNDX
015845,000054: 22,3036 51261 INDEX SPNDX
015846,000055: 22,3037 31675 CA BCDU # INITIAL CDU ANGLES
015847,000056: 22,3040 00006 EXTEND # OR PREVIOUS DESIRED CDU ANGLES
015848,000057: 22,3041 51261 INDEX SPNDX
015849,000058: 22,3042 21702 MSU NCDU
015850,000059: 22,3043 00006 EXTEND
015851,000060: 22,2000 SETLOC KALCMON1
015852,000061: 22,2000 BANK
015853,000062:
015854,000063: 22,3044 73121 MP DT/TAU
015855,000064: 22,3045 10000 CCS A # CONVERT TO 2S COMPLEMENT
015856,000065: 22,3046 64753 AD ONE
015857,000066: 22,3047 13051 TCF +2
015858,000067: 22,3050 40000 COM
015859,000068: 22,3051 51261 INDEX SPNDX
015860,000069: 22,3052 55637 TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
015861,000070: 22,3053 51261 INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
015862,000071:
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Page 371
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015864,000073: 22,3054 31702 CA NCDU # BY LEM DAP
015865,000074: 22,3055 51261 INDEX SPNDX
015866,000075: 22,3056 57675 XCH BCDU
015867,000076: 22,3057 51261 INDEX SPNDX
015868,000077: 22,3060 55634 TS CDUXD
015869,000078: 22,3061 11261 CCS SPNDX
015870,000079: 22,3062 13035 TCF INCRDCDU # LOOP FOR THREE AXES
015871,000080:
015872,000081: 22,3063 00003 RELINT
015873,000082:
015874,000083: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
015875,000084:
015876,000085: 22,3064 03075 TMANUCHK TC TIMECHK
015877,000086: 22,3065 13170 TCF CONTMANU
015878,000087: 22,3066 34753 CAF ONE
015879,000088: 22,3067 00004 MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC
015880,000089: 22,3070 05214 TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP
015881,000090: 22,3071 E6,1706 EBANK= TTEMP
015882,000091: 22,3071 03213 44066 2CADR MANUSTOP
015883,000092:
015884,000093: 22,3073 00003 RELINT
015885,000094: 22,3074 15155 TCF ENDOFJOB
015886,000095:
015887,000096: 22,3075 00006 TIMECHK EXTEND
015888,000097: 22,3076 40025 DCS TIME2
015889,000098: 22,3077 53707 DXCH TTEMP
015890,000099: 22,3100 00006 EXTEND
015891,000100: 22,3101 31733 DCA TM
015892,000101: 22,3102 21707 DAS TTEMP
015893,000102: 22,3103 11706 CCS TTEMP
015894,000103: 22,3104 00002 TC Q
015895,000104: 22,3105 13107 TCF +2
015896,000105: 22,3106 13117 TCF 2NDRETRN
015897,000106: 22,3107 11707 CCS TTEMP +1
015898,000107: 22,3110 00002 TC Q
015899,000108: 22,3111 13113 TCF MANUOFF
015900,000109: 22,3112 40000 COM
015901,000110: 22,3113 63166 MANUOFF AD ONESEK +1
015902,000111: 22,3114 00006 EXTEND
015903,000112: 22,3115 63117 BZMF 2NDRETRN
015904,000113: 22,3116 24002 INCR Q
015905,000114: 22,3117 24002 2NDRETRN INCR Q
015906,000115: 22,3120 00002 TC Q
015907,000116:
015908,000117: 22,3121 03146 DT/TAU DEC .1
015909,000118:
015910,000119: 22,3122 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
015911,000120: 22,3123 00006 EXTEND # FOR AUTOMATIC MANEUVERS
015912,000121: 22,3124 30025 DCA TIME2
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015914,000123: 22,3125 21733 DAS TM # TM+T0 MANEUVER COMPLETION TIME
015915,000124: 22,3126 00006 EXTEND
015916,000125: 22,3127 43166 DCS ONESEK
015917,000126: 22,3130 21733 DAS TM # (TM+T0)-1
015918,000127: 22,3131 00004 INHINT
015919,000128: 22,3132 34752 CAF TWO
015920,000129: 22,3133 55700 RATEBIAS TS KSPNDX
015921,000130: 22,3134 60000 DOUBLE
015922,000131: 22,3135 55701 TS KDPNDX
015923,000132: 22,3136 50000 INDEX A
015924,000133: 22,3137 31724 CA BRATE
015925,000134: 22,3140 51700 INDEX KSPNDX # STORE MANEUVER RATE IN
015926,000135: 22,3141 55642 TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD
015927,000136: 22,3142 00006 EXTEND
015928,000137: 22,3143 63145 BZMF +2 # COMPUTE ATTITUDE ERROR
015929,000138: 22,3144 40000 COM # OFFSET = (WX)ABS(WX)/2AJX
015930,000139: 22,3145 00006 EXTEND # WHERE AJX= 2-JET ACCELERATION
015931,000140: 22,3146 73167 MP BIASCALE # = -1/16
015932,000141: 22,3147 00006 EXTEND
015933,000142: 22,3150 51701 INDEX KDPNDX
015934,000143: 22,3151 71724 MP BRATE
015935,000144: 22,3152 00006 EXTEND
015936,000145: 22,3153 51700 INDEX KSPNDX
015937,000146: 22,3154 11530 DV 1JACC # =AJX $ 90 DEG/SEC-SEC
015938,000147: 22,3155 51700 INDEX KSPNDX
015939,000148: 22,3156 55274 TS DELPEROR # $ 180 DEG
015940,000149: 22,3157 11700 CCS KSPNDX
015941,000150: 22,3160 13133 TCF RATEBIAS
015942,000151:
015943,000152: 22,3161 30025 CA TIME1
015944,000153: 22,3162 63166 AD ONESEK +1
015945,000154: 22,3163 57705 XCH NEXTIME
015946,000155: 22,3164 13034 TCF INCRDCDU -1
015947,000156:
015948,000157: 22,3165 00000 ONESEK DEC 0 B-14
015949,000158: 22,3166 00144 DEC 100 B-14
015950,000159:
015951,000160: 22,3167 75777 BIASCALE OCT 75777 # = -1/16
015952,000161:
015953,000162: 22,3170 40025 CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
015954,000163: 22,3171 61705 AD NEXTIME
015955,000164: 22,3172 10000 CCS A
015956,000165: 22,3173 64753 AD ONE
015957,000166: 22,3174 13177 TCF MANUCALL
015958,000167: 22,3175 64735 AD NEGMAX
015959,000168: 22,3176 40000 COM
015960,000169: 22,3177 00004 MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
015961,000170: 22,3200 05214 TC WAITLIST
015962,000171: 22,3201 E6,1706 EBANK= TTEMP
015963,000172: 22,3201 03206 44066 2CADR UPDTCALL
015964,000173:
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Page 373
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015966,000175: 22,3203 33166 CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
015967,000176: 22,3204 27705 ADS NEXTIME
015968,000177: 22,3205 15155 TCF ENDOFJOB
015969,000178:
015970,000179:
015971,000180: 22,3206 37717 UPDTCALL CAF PRIO26 # SATELLITE PROGRAM TO CALL FOR UPDATE
015972,000181: 22,3207 05105 TC FINDVAC # OF STEERING COMMANDS
015973,000182: 22,3210 E6,1706 EBANK= TTEMP
015974,000183: 22,3210 03003 44066 2CADR NEWDELHI
015975,000184:
015976,000185: 22,3212 05272 TC TASKOVER
015977,000186:
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Page 374
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015979,000188: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
015980,000189:
015981,000190: 22,3213 34755 MANUSTOP CAF ZERO # ZERO MANEUVER RATES
015982,000191: 22,3214 55641 TS DELDCDU2
015983,000192: 22,3215 55644 TS OMEGARD
015984,000193: 22,3216 55276 TS DELREROR
015985,000194: 22,3217 55640 TS DELDCDU1
015986,000195: 22,3220 55643 TS OMEGAQD
015987,000196: 22,3221 55275 TS DELQEROR
015988,000197: 22,3222 30323 CA CPSI # SET DESIRED GIMBAL ANGLES TO
015989,000198: 22,3223 55636 TS CDUZD # DESIRED FINAL GIMBAL ANGLES
015990,000199: 22,3224 30322 CA CTHETA
015991,000200: 22,3225 55635 TS CDUYD
015992,000201: 22,3226 30321 ENDROLL CA CPHI # NO FINAL YAW
015993,000202: 22,3227 55634 TS CDUXD
015994,000203: 22,3230 34755 CAF ZERO
015995,000204: 22,3231 55642 TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU
015996,000205: 22,3232 55637 TS DELDCDU # GIMBAL LOCK ORIGINALLY
015997,000206: 22,3233 55274 TS DELPEROR
015998,000207: 22,3234 31306 GOODMANU CA ATTPRIO # RESTORE USERS PRIO
015999,000208: 22,3235 54063 TS NEWPRIO
016000,000209:
016001,000210: 22,3236 34755 CA ZERO # ZERO ATTCADR
016002,000211: 22,3237 53305 DXCH ATTCADR
016003,000212:
016004,000213: 22,3240 05116 TC SPVAC # RETURN TO USER
016005,000214:
016006,000215: 22,3241 05272 TC TASKOVER
016007,000216:
016008,000217:
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc