Source Code
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This is a reconstruction of the AGC program Luminary 99 Rev 0. It was the third release
of the Lunar Module flight software targeted for use in Apollo 11, after Luminary 96 and 97.
A bug (which had been around since at least Apollo 10, Luminary 69) was
discovered in Rev 0 shortly before the Apollo 11 flight, resulting in a last minute
revision into Rev 1,
which is what actually flew rather than
the Rev 0 presented here. A hardcopy of Rev 0 is known to
exist — it belonged to AGC developer Allan Klumpp for many years — but
unfortunately the Virtual AGC Project has not had access to that hardcopy. Thus
the code you see here had been reconstructed (we believe accurately) rather than
transcribed. The first step of the reconstruction of the Rev 0 source code was
the transcription of the Rev 1 source code from a hardcopy in the MIT Museum collection.
The process of reverting the active portion of the source code (i.e., other than
program comments) from Rev 1 to Rev 0 was very minor, consisting
only of moving the position of the STARTSB1 label in
FRESH START AND RESTART. Allan had previously given
us the checksums of the memory banks of Rev 0, and we have verified the program presented here has checksums
identical to all banks of Allan's listing of Rev 0. The notations on Allan's Rev 0 program listing read,
in part:GAP: ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-051 A single program comment is known to differ between Rev 0 and Rev 1, but these are harder to reconstruct and verify than changes to the active portion of the code. Thus it is possible that there are additional differences between the program comments in Rev 0 and Rev 1 that are unknown to us, and therefore are not reflected in the code presented here. |
015654,000002: ## Copyright: Public domain.
015655,000003: ## Filename: KALCMANU_STEERING.agc
015656,000004: ## Purpose: Part of the reconstructed source code for LMY99 Rev 0,
015657,000005: ## otherwise known as Luminary Rev 99, the third release
015658,000006: ## of the Apollo Guidance Computer (AGC) software for Apollo 11.
015659,000007: ## It differs from LMY99 Rev 1 (the flown version) only in the
015660,000008: ## placement of a single label. The corrections shown here have
015661,000009: ## been verified to have the same bank checksums as AGC developer
015662,000010: ## Allan Klumpp's copy of Luminary Rev 99, and so are believed
015663,000011: ## to be accurate. This file is intended to be a faithful
015664,000012: ## recreation, except that the code format has been changed to
015665,000013: ## conform to the requirements of the yaYUL assembler rather than
015666,000014: ## the original YUL assembler.
015667,000015: ##
015668,000016: ## Assembler: yaYUL
015669,000017: ## Contact: Ron Burkey <info@sandroid.org>.
015670,000018: ## Website: www.ibiblio.org/apollo.
015671,000019: ## Pages: 365-369
015672,000020: ## Mod history: 2009-05-17 RSB Adapted from the corresponding
015673,000021: ## Luminary131 file, using page
015674,000022: ## images from Luminary 1A.
015675,000023: ## 2011-01-06 JL Added missing comment characters.
015676,000024: ## 2016-12-14 RSB Proofed text comments with octopus/ProoferComments
015677,000025: ## and corrected the errors found.
015678,000026: ## 2017-03-07 RSB Removed yaYUL workaround that no longer
015679,000027: ## seems to be needed.
015680,000028: ## 2017-03-17 RSB Comment-text fixes identified in diff'ing
015681,000029: ## Luminary 99 vs Comanche 55.
015682,000030: ## 2017-08-01 MAS Created from LMY99 Rev 1.
015683,000031:
015684,000032: ## This source code has been transcribed or otherwise adapted from
015685,000033: ## digitized images of a hardcopy from the MIT Museum. The digitization
015686,000034: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
015687,000035: ## the Museum. Many thanks to both. The images (with suitable reduction
015688,000036: ## in storage size and consequent reduction in image quality as well) are
015689,000037: ## available online at www.ibiblio.org/apollo. If for some reason you
015690,000038: ## find that the images are illegible, contact me at info@sandroid.org
015691,000039: ## about getting access to the (much) higher-quality images which Paul
015692,000040: ## actually created.
015693,000041: ##
015694,000042: ## The code has been modified to match LMY99 Revision 0, otherwise
015695,000043: ## known as Luminary Revision 99, the Apollo 11 software release preceeding
015696,000044: ## the listing from which it was transcribed. It has been verified to
015697,000045: ## contain the same bank checksums as AGC developer Allan Klumpp's listing
015698,000046: ## of Luminary Revision 99 (for which we do not have scans).
015699,000047: ##
015700,000048: ## Notations on Allan Klumpp's listing read, in part:
015701,000049: ##
015702,000050: ## ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
015703,000051:
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Page 365 |
015705,000053: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
015706,000054:
015707,000055: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
015708,000056:
015709,000057: 22,3003 E6,1707 EBANK= TTEMP
015710,000058:
015711,000059: 22,3003 04616 NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
015712,000060: 22,3004 54262 CADR ISITAUTO # ONLY
015713,000061: 22,3005 10000 CCS A
015714,000062: 22,3006 12730 TCF NOGO -2
015715,000063: 22,3007 06037 NEWANGL TC INTPRET
015716,000064: 22,3010 75160 AXC,1 AXC,2
015717,000065: 22,3011 03246 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
015718,000066: 22,3012 02230 KEL # STABLE MEMBER AXES
015719,000067: 22,3013 77624 CALL
015720,000068: 22,3014 44312 MXM3
015721,000069: 22,3015 45575 VLOAD STADR
015722,000070: 22,3016 50514 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
015723,000071: 22,3017 77626 STADR
015724,000072: 22,3020 50522 STOVL MIS +6D
015725,000073: 22,3021 77626 STADR
015726,000074: 22,3022 74530 STORE MIS
015727,000075: 22,3023 45160 AXC,1 CALL
015728,000076: 22,3024 03246 MIS
015729,000077: 22,3025 44654 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
015730,000078: 22,3026 77634 RTB
015731,000079: 22,3027 21620 V1STO2S
015732,000080: 22,3030 03304 STORE NCDU # NEW CDU ANGLES
015733,000081: 22,3031 77414 BONCLR EXIT
015734,000082: 22,3032 01215 CALCMAN2
015735,000083: 22,3033 45122 MANUSTAT # TO START MANEUVER
015736,000084: 22,3034 34752 CAF TWO # +0 OTHERWISE
015737,000085: 22,3035 55272 INCRDCDU TS SPNDX
015738,000086: 22,3036 51272 INDEX SPNDX
015739,000087: 22,3037 31676 CA BCDU # INITIAL CDU ANGLES
015740,000088: 22,3040 00006 EXTEND # OR PREVIOUS DESIRED CDU ANGLES
015741,000089: 22,3041 51272 INDEX SPNDX
015742,000090: 22,3042 21703 MSU NCDU
015743,000091: 22,3043 00006 EXTEND
015744,000092: 22,2000 SETLOC KALCMON1
015745,000093: 22,2000 BANK
015746,000094:
015747,000095: 22,3044 73121 MP DT/TAU
015748,000096: 22,3045 10000 CCS A # CONVERT TO 2S COMPLEMENT
015749,000097: 22,3046 64753 AD ONE
015750,000098: 22,3047 13051 TCF +2
015751,000099: 22,3050 40000 COM
015752,000100: 22,3051 51272 INDEX SPNDX
015753,000101: 22,3052 55640 TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
015754,000102: 22,3053 51272 INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
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Page 366 |
015756,000104: 22,3054 31703 CA NCDU # BY LEM DAP
015757,000105: 22,3055 51272 INDEX SPNDX
015758,000106: 22,3056 57676 XCH BCDU
015759,000107: 22,3057 51272 INDEX SPNDX
015760,000108: 22,3060 55635 TS CDUXD
015761,000109: 22,3061 11272 CCS SPNDX
015762,000110: 22,3062 13035 TCF INCRDCDU # LOOP FOR THREE AXES
015763,000111:
015764,000112: 22,3063 00003 RELINT
015765,000113:
015766,000114: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
015767,000115:
015768,000116: 22,3064 03075 TMANUCHK TC TIMECHK
015769,000117: 22,3065 13170 TCF CONTMANU
015770,000118: 22,3066 34753 CAF ONE
015771,000119: 22,3067 00004 MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC
015772,000120: 22,3070 05203 TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP
015773,000121: 22,3071 E6,1707 EBANK= TTEMP
015774,000122: 22,3071 03213 44066 2CADR MANUSTOP
015775,000123:
015776,000124: 22,3073 00003 RELINT
015777,000125: 22,3074 15155 TCF ENDOFJOB
015778,000126:
015779,000127: 22,3075 00006 TIMECHK EXTEND
015780,000128: 22,3076 40025 DCS TIME2
015781,000129: 22,3077 53710 DXCH TTEMP
015782,000130: 22,3100 00006 EXTEND
015783,000131: 22,3101 31734 DCA TM
015784,000132: 22,3102 21710 DAS TTEMP
015785,000133: 22,3103 11707 CCS TTEMP
015786,000134: 22,3104 00002 TC Q
015787,000135: 22,3105 13107 TCF +2
015788,000136: 22,3106 13117 TCF 2NDRETRN
015789,000137: 22,3107 11710 CCS TTEMP +1
015790,000138: 22,3110 00002 TC Q
015791,000139: 22,3111 13113 TCF MANUOFF
015792,000140: 22,3112 40000 COM
015793,000141: 22,3113 63166 MANUOFF AD ONESEK +1
015794,000142: 22,3114 00006 EXTEND
015795,000143: 22,3115 63117 BZMF 2NDRETRN
015796,000144: 22,3116 24002 INCR Q
015797,000145: 22,3117 24002 2NDRETRN INCR Q
015798,000146: 22,3120 00002 TC Q
015799,000147:
015800,000148: 22,3121 03146 DT/TAU DEC .1
015801,000149:
015802,000150: 22,3122 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
015803,000151: 22,3123 00006 EXTEND # FOR AUTOMATIC MANEUVERS
015804,000152: 22,3124 30025 DCA TIME2
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Page 367 |
015806,000154: 22,3125 21734 DAS TM # TM+T0 MANEUVER COMPLETION TIME
015807,000155: 22,3126 00006 EXTEND
015808,000156: 22,3127 43166 DCS ONESEK
015809,000157: 22,3130 21734 DAS TM # (TM+T0)-1
015810,000158: 22,3131 00004 INHINT
015811,000159: 22,3132 34752 CAF TWO
015812,000160: 22,3133 55701 RATEBIAS TS KSPNDX
015813,000161: 22,3134 60000 DOUBLE
015814,000162: 22,3135 55702 TS KDPNDX
015815,000163: 22,3136 50000 INDEX A
015816,000164: 22,3137 31725 CA BRATE
015817,000165: 22,3140 51701 INDEX KSPNDX # STORE MANEUVER RATE IN
015818,000166: 22,3141 55643 TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD
015819,000167: 22,3142 00006 EXTEND
015820,000168: 22,3143 63145 BZMF +2 # COMPUTE ATTITUDE ERROR
015821,000169: 22,3144 40000 COM # OFFSET = (WX)ABS(WX)/2AJX
015822,000170: 22,3145 00006 EXTEND # WHERE AJX= 2-JET ACCELERATION
015823,000171: 22,3146 73167 MP BIASCALE # = -1/16
015824,000172: 22,3147 00006 EXTEND
015825,000173: 22,3150 51702 INDEX KDPNDX
015826,000174: 22,3151 71725 MP BRATE
015827,000175: 22,3152 00006 EXTEND
015828,000176: 22,3153 51701 INDEX KSPNDX
015829,000177: 22,3154 11530 DV 1JACC # = AJX $ 90 DEG/SEC-SEC
015830,000178: 22,3155 51701 INDEX KSPNDX
015831,000179: 22,3156 55277 TS DELPEROR # $ 180 DEG
015832,000180: 22,3157 11701 CCS KSPNDX
015833,000181: 22,3160 13133 TCF RATEBIAS
015834,000182:
015835,000183: 22,3161 30025 CA TIME1
015836,000184: 22,3162 63166 AD ONESEK +1
015837,000185: 22,3163 57706 XCH NEXTIME
015838,000186: 22,3164 13034 TCF INCRDCDU -1
015839,000187:
015840,000188: 22,3165 00000 ONESEK DEC 0 B-14
015841,000189: 22,3166 00144 DEC 100 B-14
015842,000190:
015843,000191: 22,3167 75777 BIASCALE OCT 75777 # = -1/16
015844,000192:
015845,000193: 22,3170 40025 CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
015846,000194: 22,3171 61706 AD NEXTIME
015847,000195: 22,3172 10000 CCS A
015848,000196: 22,3173 64753 AD ONE
015849,000197: 22,3174 13177 TCF MANUCALL
015850,000198: 22,3175 64735 AD NEGMAX
015851,000199: 22,3176 40000 COM
015852,000200: 22,3177 00004 MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
015853,000201: 22,3200 05203 TC WAITLIST
015854,000202: 22,3201 E6,1707 EBANK= TTEMP
015855,000203: 22,3201 03206 44066 2CADR UPDTCALL
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Page 368 |
015857,000205: 22,3203 33166 CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
015858,000206: 22,3204 27706 ADS NEXTIME
015859,000207: 22,3205 15155 TCF ENDOFJOB
015860,000208:
015861,000209: 22,3206 37714 UPDTCALL CAF PRIO26 # SATELLITE PROGRAM TO CALL FOR UPDATE
015862,000210: 22,3207 05105 TC FINDVAC # OF STEERING COMMANDS
015863,000211: 22,3210 E6,1707 EBANK= TTEMP
015864,000212: 22,3210 03003 44066 2CADR NEWDELHI
015865,000213:
015866,000214: 22,3212 05261 TC TASKOVER
015867,000215:
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Page 369 |
015869,000217: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
015870,000218:
015871,000219: 22,3213 34755 MANUSTOP CAF ZERO # ZERO MANEUVER RATES
015872,000220: 22,3214 55642 TS DELDCDU2
015873,000221: 22,3215 55645 TS OMEGARD
015874,000222: 22,3216 55301 TS DELREROR
015875,000223: 22,3217 55641 TS DELDCDU1
015876,000224: 22,3220 55644 TS OMEGAQD
015877,000225: 22,3221 55300 TS DELQEROR
015878,000226: 22,3222 30323 CA CPSI # SET DESIRED GIMBAL ANGLES TO
015879,000227: 22,3223 55637 TS CDUZD # DESIRED FINAL GIMBAL ANGLES
015880,000228: 22,3224 30322 CA CTHETA
015881,000229: 22,3225 55636 TS CDUYD
015882,000230: 22,3226 30321 ENDROLL CA CPHI # NO FINAL YAW
015883,000231: 22,3227 55635 TS CDUXD
015884,000232: 22,3230 34755 CAF ZERO
015885,000233: 22,3231 55643 TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU
015886,000234: 22,3232 55640 TS DELDCDU # GIMBAL LOCK ORIGINALLY
015887,000235: 22,3233 55277 TS DELPEROR
015888,000236: 22,3234 31311 GOODMANU CA ATTPRIO # RESTORE USERS PRIO
015889,000237: 22,3235 54063 TS NEWPRIO
015890,000238:
015891,000239: 22,3236 34755 CA ZERO # ZERO ATTCADR
015892,000240: 22,3237 53310 DXCH ATTCADR
015893,000241:
015894,000242: 22,3240 05116 TC SPVAC # RETURN TO USER
015895,000243:
015896,000244: 22,3241 05261 TC TASKOVER
015897,000245:
015898,000246:
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc