Source Code
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These source-code files are part of a reconstructed copy of Luminary 173, the
second (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with reconstructed source code for Luminary 178. Changes
between revision 173 and 178 were backed out, as described by Luminary memo 167
(revision 1). 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 173 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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015787,000002: ## Copyright: Public domain.
015788,000003: ## Filename: KALCMANU_STEERING.agc
015789,000004: ## Purpose: A section of Luminary revision 173.
015790,000005: ## It is part of the reconstructed source code for the second
015791,000006: ## (unflown) release of the flight software for the Lunar
015792,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
015793,000008: ## The code has been recreated from a reconstructed copy of
015794,000009: ## Luminary 178, as well as Luminary memo 167 (revision 1).
015795,000010: ## It has been adapted such that the resulting bugger words
015796,000011: ## exactly match those specified for Luminary 173 in NASA
015797,000012: ## drawing 2021152N, which gives relatively high confidence
015798,000013: ## that the reconstruction is correct.
015799,000014: ## Reference: pp. 370-374
015800,000015: ## Assembler: yaYUL
015801,000016: ## Contact: Ron Burkey <info@sandroid.org>.
015802,000017: ## Website: www.ibiblio.org/apollo/index.html
015803,000018: ## Mod history: 2019-09-18 MAS Created from Luminary 178.
015804,000019:
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Page 370
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015806,000021: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
015807,000022:
015808,000023: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
015809,000024:
015810,000025: 22,3003 E6,1706 EBANK= TTEMP
015811,000026:
015812,000027: 22,3003 04616 NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
015813,000028: 22,3004 54270 CADR ISITAUTO # ONLY
015814,000029: 22,3005 10000 CCS A
015815,000030: 22,3006 12730 TCF NOGO -2
015816,000031: 22,3007 06042 NEWANGL TC INTPRET
015817,000032: 22,3010 75160 AXC,1 AXC,2
015818,000033: 22,3011 03245 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
015819,000034: 22,3012 02230 KEL # STABLE MEMBER AXES
015820,000035: 22,3013 77624 CALL
015821,000036: 22,3014 44312 MXM3
015822,000037: 22,3015 45575 VLOAD STADR
015823,000038: 22,3016 50515 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
015824,000039: 22,3017 77626 STADR
015825,000040: 22,3020 50523 STOVL MIS +6D
015826,000041: 22,3021 77626 STADR
015827,000042: 22,3022 74531 STORE MIS
015828,000043: 22,3023 45160 AXC,1 CALL
015829,000044: 22,3024 03245 MIS
015830,000045: 22,3025 44654 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
015831,000046: 22,3026 77634 RTB
015832,000047: 22,3027 21621 V1STO2S
015833,000048: 22,3030 03303 STORE NCDU # NEW CDU ANGLES
015834,000049: 22,3031 77414 BONCLR EXIT
015835,000050: 22,3032 01215 CALCMAN2
015836,000051: 22,3033 45122 MANUSTAT # TO START MANEUVER
015837,000052: 22,3034 34752 CAF TWO # +0 OTHERWISE
015838,000053: 22,3035 55261 INCRDCDU TS SPNDX
015839,000054: 22,3036 51261 INDEX SPNDX
015840,000055: 22,3037 31675 CA BCDU # INITIAL CDU ANGLES
015841,000056: 22,3040 00006 EXTEND # OR PREVIOUS DESIRED CDU ANGLES
015842,000057: 22,3041 51261 INDEX SPNDX
015843,000058: 22,3042 21702 MSU NCDU
015844,000059: 22,3043 00006 EXTEND
015845,000060: 22,2000 SETLOC KALCMON1
015846,000061: 22,2000 BANK
015847,000062:
015848,000063: 22,3044 73121 MP DT/TAU
015849,000064: 22,3045 10000 CCS A # CONVERT TO 2S COMPLEMENT
015850,000065: 22,3046 64753 AD ONE
015851,000066: 22,3047 13051 TCF +2
015852,000067: 22,3050 40000 COM
015853,000068: 22,3051 51261 INDEX SPNDX
015854,000069: 22,3052 55637 TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
015855,000070: 22,3053 51261 INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
015856,000071:
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Page 371
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015858,000073: 22,3054 31702 CA NCDU # BY LEM DAP
015859,000074: 22,3055 51261 INDEX SPNDX
015860,000075: 22,3056 57675 XCH BCDU
015861,000076: 22,3057 51261 INDEX SPNDX
015862,000077: 22,3060 55634 TS CDUXD
015863,000078: 22,3061 11261 CCS SPNDX
015864,000079: 22,3062 13035 TCF INCRDCDU # LOOP FOR THREE AXES
015865,000080:
015866,000081: 22,3063 00003 RELINT
015867,000082:
015868,000083: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
015869,000084:
015870,000085: 22,3064 03075 TMANUCHK TC TIMECHK
015871,000086: 22,3065 13170 TCF CONTMANU
015872,000087: 22,3066 34753 CAF ONE
015873,000088: 22,3067 00004 MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC
015874,000089: 22,3070 05214 TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP
015875,000090: 22,3071 E6,1706 EBANK= TTEMP
015876,000091: 22,3071 03213 44066 2CADR MANUSTOP
015877,000092:
015878,000093: 22,3073 00003 RELINT
015879,000094: 22,3074 15155 TCF ENDOFJOB
015880,000095:
015881,000096: 22,3075 00006 TIMECHK EXTEND
015882,000097: 22,3076 40025 DCS TIME2
015883,000098: 22,3077 53707 DXCH TTEMP
015884,000099: 22,3100 00006 EXTEND
015885,000100: 22,3101 31733 DCA TM
015886,000101: 22,3102 21707 DAS TTEMP
015887,000102: 22,3103 11706 CCS TTEMP
015888,000103: 22,3104 00002 TC Q
015889,000104: 22,3105 13107 TCF +2
015890,000105: 22,3106 13117 TCF 2NDRETRN
015891,000106: 22,3107 11707 CCS TTEMP +1
015892,000107: 22,3110 00002 TC Q
015893,000108: 22,3111 13113 TCF MANUOFF
015894,000109: 22,3112 40000 COM
015895,000110: 22,3113 63166 MANUOFF AD ONESEK +1
015896,000111: 22,3114 00006 EXTEND
015897,000112: 22,3115 63117 BZMF 2NDRETRN
015898,000113: 22,3116 24002 INCR Q
015899,000114: 22,3117 24002 2NDRETRN INCR Q
015900,000115: 22,3120 00002 TC Q
015901,000116:
015902,000117: 22,3121 03146 DT/TAU DEC .1
015903,000118:
015904,000119: 22,3122 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
015905,000120: 22,3123 00006 EXTEND # FOR AUTOMATIC MANEUVERS
015906,000121: 22,3124 30025 DCA TIME2
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015908,000123: 22,3125 21733 DAS TM # TM+T0 MANEUVER COMPLETION TIME
015909,000124: 22,3126 00006 EXTEND
015910,000125: 22,3127 43166 DCS ONESEK
015911,000126: 22,3130 21733 DAS TM # (TM+T0)-1
015912,000127: 22,3131 00004 INHINT
015913,000128: 22,3132 34752 CAF TWO
015914,000129: 22,3133 55700 RATEBIAS TS KSPNDX
015915,000130: 22,3134 60000 DOUBLE
015916,000131: 22,3135 55701 TS KDPNDX
015917,000132: 22,3136 50000 INDEX A
015918,000133: 22,3137 31724 CA BRATE
015919,000134: 22,3140 51700 INDEX KSPNDX # STORE MANEUVER RATE IN
015920,000135: 22,3141 55642 TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD
015921,000136: 22,3142 00006 EXTEND
015922,000137: 22,3143 63145 BZMF +2 # COMPUTE ATTITUDE ERROR
015923,000138: 22,3144 40000 COM # OFFSET = (WX)ABS(WX)/2AJX
015924,000139: 22,3145 00006 EXTEND # WHERE AJX= 2-JET ACCELERATION
015925,000140: 22,3146 73167 MP BIASCALE # = -1/16
015926,000141: 22,3147 00006 EXTEND
015927,000142: 22,3150 51701 INDEX KDPNDX
015928,000143: 22,3151 71724 MP BRATE
015929,000144: 22,3152 00006 EXTEND
015930,000145: 22,3153 51700 INDEX KSPNDX
015931,000146: 22,3154 11530 DV 1JACC # =AJX $ 90 DEG/SEC-SEC
015932,000147: 22,3155 51700 INDEX KSPNDX
015933,000148: 22,3156 55274 TS DELPEROR # $ 180 DEG
015934,000149: 22,3157 11700 CCS KSPNDX
015935,000150: 22,3160 13133 TCF RATEBIAS
015936,000151:
015937,000152: 22,3161 30025 CA TIME1
015938,000153: 22,3162 63166 AD ONESEK +1
015939,000154: 22,3163 57705 XCH NEXTIME
015940,000155: 22,3164 13034 TCF INCRDCDU -1
015941,000156:
015942,000157: 22,3165 00000 ONESEK DEC 0 B-14
015943,000158: 22,3166 00144 DEC 100 B-14
015944,000159:
015945,000160: 22,3167 75777 BIASCALE OCT 75777 # = -1/16
015946,000161:
015947,000162: 22,3170 40025 CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
015948,000163: 22,3171 61705 AD NEXTIME
015949,000164: 22,3172 10000 CCS A
015950,000165: 22,3173 64753 AD ONE
015951,000166: 22,3174 13177 TCF MANUCALL
015952,000167: 22,3175 64735 AD NEGMAX
015953,000168: 22,3176 40000 COM
015954,000169: 22,3177 00004 MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
015955,000170: 22,3200 05214 TC WAITLIST
015956,000171: 22,3201 E6,1706 EBANK= TTEMP
015957,000172: 22,3201 03206 44066 2CADR UPDTCALL
015958,000173:
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Page 373
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015960,000175: 22,3203 33166 CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
015961,000176: 22,3204 27705 ADS NEXTIME
015962,000177: 22,3205 15155 TCF ENDOFJOB
015963,000178:
015964,000179:
015965,000180: 22,3206 37717 UPDTCALL CAF PRIO26 # SATELLITE PROGRAM TO CALL FOR UPDATE
015966,000181: 22,3207 05105 TC FINDVAC # OF STEERING COMMANDS
015967,000182: 22,3210 E6,1706 EBANK= TTEMP
015968,000183: 22,3210 03003 44066 2CADR NEWDELHI
015969,000184:
015970,000185: 22,3212 05272 TC TASKOVER
015971,000186:
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Page 374
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015973,000188: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
015974,000189:
015975,000190: 22,3213 34755 MANUSTOP CAF ZERO # ZERO MANEUVER RATES
015976,000191: 22,3214 55641 TS DELDCDU2
015977,000192: 22,3215 55644 TS OMEGARD
015978,000193: 22,3216 55276 TS DELREROR
015979,000194: 22,3217 55640 TS DELDCDU1
015980,000195: 22,3220 55643 TS OMEGAQD
015981,000196: 22,3221 55275 TS DELQEROR
015982,000197: 22,3222 30323 CA CPSI # SET DESIRED GIMBAL ANGLES TO
015983,000198: 22,3223 55636 TS CDUZD # DESIRED FINAL GIMBAL ANGLES
015984,000199: 22,3224 30322 CA CTHETA
015985,000200: 22,3225 55635 TS CDUYD
015986,000201: 22,3226 30321 ENDROLL CA CPHI # NO FINAL YAW
015987,000202: 22,3227 55634 TS CDUXD
015988,000203: 22,3230 34755 CAF ZERO
015989,000204: 22,3231 55642 TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU
015990,000205: 22,3232 55637 TS DELDCDU # GIMBAL LOCK ORIGINALLY
015991,000206: 22,3233 55274 TS DELPEROR
015992,000207: 22,3234 31306 GOODMANU CA ATTPRIO # RESTORE USERS PRIO
015993,000208: 22,3235 54063 TS NEWPRIO
015994,000209:
015995,000210: 22,3236 34755 CA ZERO # ZERO ATTCADR
015996,000211: 22,3237 53305 DXCH ATTCADR
015997,000212:
015998,000213: 22,3240 05116 TC SPVAC # RETURN TO USER
015999,000214:
016000,000215: 22,3241 05272 TC TASKOVER
016001,000216:
016002,000217:
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc