Source Code
|
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. |
034715,000002: ## Copyright: Public domain.
034716,000003: ## Filename: THE_LUNAR_LANDING.agc
034717,000004: ## Purpose: Part of the reconstructed source code for LMY99 Rev 0,
034718,000005: ## otherwise known as Luminary Rev 99, the third release
034719,000006: ## of the Apollo Guidance Computer (AGC) software for Apollo 11.
034720,000007: ## It differs from LMY99 Rev 1 (the flown version) only in the
034721,000008: ## placement of a single label. The corrections shown here have
034722,000009: ## been verified to have the same bank checksums as AGC developer
034723,000010: ## Allan Klumpp's copy of Luminary Rev 99, and so are believed
034724,000011: ## to be accurate. This file is intended to be a faithful
034725,000012: ## recreation, except that the code format has been changed to
034726,000013: ## conform to the requirements of the yaYUL assembler rather than
034727,000014: ## the original YUL assembler.
034728,000015: ##
034729,000016: ## Assembler: yaYUL
034730,000017: ## Contact: Hartmuth Gutsche<hgutsche@xplornet.com>.
034731,000018: ## Website: www.ibiblio.org/apollo.
034732,000019: ## Pages: 785-792
034733,000020: ## Mod history: 2009-05-20 HG Transcribed from page images.
034734,000021: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
034735,000022: ## 2016-12-16 RSB Proofed text comments with octopus/ProoferComments
034736,000023: ## and corrected the errors found.
034737,000024: ## 2017-03-13 RSB Comment-text fixes noted in proofing Luminary 116.
034738,000025: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
034739,000026: ## side-by-side diff of Luminary 69/99/116/131/210.
034740,000027: ## 2017-08-01 MAS Created from LMY99 Rev 1.
034741,000028:
034742,000029: ## This source code has been transcribed or otherwise adapted from
034743,000030: ## digitized images of a hardcopy from the MIT Museum. The digitization
034744,000031: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
034745,000032: ## the Museum. Many thanks to both. The images (with suitable reduction
034746,000033: ## in storage size and consequent reduction in image quality as well) are
034747,000034: ## available online at www.ibiblio.org/apollo. If for some reason you
034748,000035: ## find that the images are illegible, contact me at info@sandroid.org
034749,000036: ## about getting access to the (much) higher-quality images which Paul
034750,000037: ## actually created.
034751,000038: ##
034752,000039: ## The code has been modified to match LMY99 Revision 0, otherwise
034753,000040: ## known as Luminary Revision 99, the Apollo 11 software release preceeding
034754,000041: ## the listing from which it was transcribed. It has been verified to
034755,000042: ## contain the same bank checksums as AGC developer Allan Klumpp's listing
034756,000043: ## of Luminary Revision 99 (for which we do not have scans).
034757,000044: ##
034758,000045: ## Notations on Allan Klumpp's listing read, in part:
034759,000046: ##
034760,000047: ## ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
034761,000048:
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Page 785 |
034763,000050: 32,2776 BANK 32
034764,000051: 32,2000 SETLOC F2DPS*32
034765,000052: 32,2000 BANK
034766,000053:
034767,000054: 32,2776 E7,1621 EBANK= E2DPS
034768,000055:
034769,000056: # ****************************************
034770,000057: # P63: THE LUNAR LANDING, BRAKING PHASE
034771,000058: # ****************************************
034772,000059:
034773,000060: 32,2776 COUNT* $$/P63
034774,000061:
034775,000062: 32,2776 05353 P63LM TC PHASCHNG
034776,000063: 32,2777 04024 OCT 04024
034777,000064:
034778,000065: 32,3000 04616 TC BANKCALL # DO IMU STATUS CHECK ROUTINE R02
034779,000066: 32,3001 11254 CADR R02BOTH
034780,000067:
034781,000068: 32,3002 33253 CAF P63ADRES # INITIALIZE WHICH FOR BURNBABY
034782,000069: 32,3003 55455 TS WHICH
034783,000070:
034784,000071: 32,3004 32000 CAF DPSTHRSH # INITIALIZE DVMON
034785,000072: 32,3005 55251 TS DVTHRUSH
034786,000073: 32,3006 34751 CAF FOUR
034787,000074: 32,3007 55515 TS DVCNTR
034788,000075:
034789,000076: 32,3010 44753 CS ONE # INITIALIZE WCHPHASE AND FLPASSO
034790,000077: 32,3011 55351 TS WCHPHASE
034791,000078:
034792,000079: 32,3012 34755 CA ZERO
034793,000080: 32,3013 55623 TS FLPASS0
034794,000081:
034795,000082: 32,3014 44736 CS BIT14
034796,000083: 32,3015 00006 EXTEND
034797,000084: 32,3016 03012 WAND CHAN12 # REMOVE TRACK-ENABLE DISCRETE.
034798,000085:
034799,000086: 32,3017 06037 FLAGORGY TC INTPRET # DIONYSIAN FLAG WAVING
034800,000087: 32,3020 43014 CLEAR CLEAR
034801,000088: 32,3021 02663 NOTHROTL
034802,000089: 32,3022 03271 REDFLAG
034803,000090: 32,3023 43014 CLEAR SET
034804,000091: 32,3024 05660 LRBYPASS
034805,000092: 32,3025 03067 MUNFLAG
034806,000093: 32,3026 43014 CLEAR CLEAR
034807,000094: 32,3027 00266 P25FLAG # TERMINATE P25 IF IT IS RUNNING.
034808,000095: 32,3030 00270 RNDVZFLG # TERMINATE P20 IF IT IS RUNNING
034809,000096:
034810,000097: # ****************************************
034811,000098:
034812,000099: 32,3031 77201 IGNALG SETPD VLOAD # FIRST SET UP INPUTS FOR RP-TO-R:-
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Page 786 |
034814,000101: 32,3032 00001 0 # AT 0D LANDING SITE IN MOON FIXED FRAME
034815,000102: 32,3033 02023 RLS # AT 6D ESTIMATED TIME OF LANDING
034816,000103: 32,3034 41525 PDDL PUSH # MPAC NON-ZERO TO INDICATE LUNAR CASE
034817,000104: 32,3035 02401 TLAND
034818,000105: 32,3036 37625 STCALL TPIP # ALSO SET TPIP FOR FIRST GUIDANCE PASS
034819,000106: 32,3037 55716 RP-TO-R
034820,000107: 32,3040 64312 VSL4 MXV
034821,000108: 32,3041 01734 REFSMMAT
034822,000109: 32,3042 37635 STCALL LAND
034823,000110: 32,3043 46432 GUIDINIT # GUIDINIT INITIALIZES WM AND /LAND/
034824,000111: 32,3044 45345 DLOAD DSU
034825,000112: 32,3045 02401 TLAND
034826,000113: 32,3046 25260 GUIDDURN
034827,000114: 32,3047 34041 STCALL TDEC1 # INTEGRATE STATE FORWARD TO THAT TIME
034828,000115: 32,3050 27057 LEMPREC
034829,000116: 32,3051 77331 SSP VLOAD
034830,000117: 32,3052 03647 NIGNLOOP
034831,000118: 32,3053 00050 40D
034832,000119: 32,3054 06520 UNITX
034833,000120: 32,3055 26603 STOVL CG
034834,000121: 32,3056 06516 UNITY
034835,000122: 32,3057 26611 STOVL CG +6
034836,000123: 32,3060 06514 UNITZ
034837,000124: 32,3061 16617 STODL CG +14
034838,000125: 32,3062 25256 99999CON
034839,000126: 32,3063 27665 STOVL DELTAH # INITIALIZE DELTAH FOR V16N68 DISPLAY
034840,000127: 32,3064 06522 ZEROVECS
034841,000128: 32,3065 17254 STODL UNFC/2 # INITIALIZE TRIM VELOCITY CORRECTION TERM
034842,000129: 32,3066 06522 HI6ZEROS
034843,000130: 32,3067 03643 STORE TTF/8
034844,000131:
034845,000132: 32,3070 77745 IGNALOOP DLOAD
034846,000133: 32,3071 00015 TAT
034847,000134: 32,3072 27561 STOVL PIPTIME1
034848,000135: 32,3073 00017 RATT1
034849,000136: 32,3074 64312 VSL4 MXV
034850,000137: 32,3075 01734 REFSMMAT
034851,000138: 32,3076 37521 STCALL R
034852,000139: 32,3077 67130 MUNGRAV
034853,000140: 32,3100 35237 STCALL GDT/2
034854,000141: 32,3101 62454 ?GUIDSUB # WHICH DELIVERS N PASSES OF GUIDANCE
034855,000142:
034856,000143: # DDUMCALC IS PROGRAMMED AS FOLLOWS:-
034857,000144: # 2 -
034858,000145: # (RIGNZ - RGU )/16 + 16(RGU )KIGNY/B8 + (RGU - RIGNX)KIGNX/B4 + (ABVAL(VGU) - VIGN)KIGNV/B4
034859,000146: # 2 1 0
034860,000147: # DDUM = -------------------------------------------------------------------------------------------
034861,000148: # 10
034862,000149: # 2 (VGU - 16 VGU KIGNX/B4)
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Page 787 |
034864,000151: # 2 0
034865,000152: # THE NUMERATOR IS SCALED IN METERS AT 2(28). THE DENOMINATOR IS A VELOCITY IN UNITS OF 2(10) M/CS.
034866,000153: # THE QUOTIENT IS THUS A TIME IN UNITS OF 2(18) CENTISECONDS. THE FINAL SHIFT RESCALES TO UNITS OF 2(28) CS.
034867,000154: # THERE IS NO DAMPING FACTOR. THE CONSTANTS KIGNX/B4, KIGNY/B8 AND KIGNV/B4 ARE ALL NEGATIVE IN SIGN.
034868,000155:
034869,000156: 32,3102 55646 DDUMCALC TS NIGNLOOP
034870,000157: 32,3103 06037 TC INTPRET
034871,000158: 32,3104 57345 DLOAD DMPR # FORM DENOMINATOR FIRST
034872,000159: 32,3105 03627 VGU
034873,000160: 32,3106 02501 KIGNX/B4
034874,000161: 32,3107 44232 SL4R BDSU
034875,000162: 32,3110 03633 VGU +4
034876,000163: 32,3111 45325 PDDL DSU
034877,000164: 32,3112 02477 RIGNZ
034878,000165: 32,3113 02643 RGU +4
034879,000166: 32,3114 65222 SR4R PDDL
034880,000167: 32,3115 02641 RGU +2
034881,000168: 32,3116 57316 DSQ DMPR
034882,000169: 32,3117 02503 KIGNY/B8
034883,000170: 32,3120 65232 SL4R PDDL
034884,000171: 32,3121 02637 RGU
034885,000172: 32,3122 57225 DSU DMPR
034886,000173: 32,3123 02475 RIGNX
034887,000174: 32,3124 02501 KIGNX/B4
034888,000175: 32,3125 51515 PDVL ABVAL
034889,000176: 32,3126 03627 VGU
034890,000177: 32,3127 57225 DSU DMPR
034891,000178: 32,3130 02473 VIGN
034892,000179: 32,3131 02505 KIGNV/B4
034893,000180: 32,3132 43215 DAD DAD
034894,000181: 32,3133 56215 DAD DDV
034895,000182: 32,3134 77661 SRR
034896,000183: 32,3135 21613 10D
034897,000184:
034898,000185: 32,3136 43206 PUSH DAD
034899,000186: 32,3137 03561 PIPTIME1
034900,000187: 32,3140 14041 STODL TDEC1 # STORE NEW GUESS FOR NEXT INTEGRATION
034901,000188: 32,3141 45246 ABS DSU
034902,000189: 32,3142 25262 DDUMCRIT
034903,000190: 32,3143 45040 BMN CALL
034904,000191: 32,3144 65163 DDUMGOOD
034905,000192: 32,3145 27414 INTSTALL
034906,000193: 32,3146 43014 SET SET
034907,000194: 32,3147 01473 INTYPFLG
034908,000195: 32,3150 00063 MOONFLAG
034909,000196: 32,3151 77745 DLOAD
034910,000197: 32,3152 03561 PIPTIME1
034911,000198: 32,3153 25517 STOVL TET # HOPEFULLY ?GUIDSUB DID NOT
034912,000199: 32,3154 00017 RATT1 # CLOBBER RATT1 AND VATT1
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Page 788 |
034914,000201: 32,3155 25535 STOVL RCV
034915,000202: 32,3156 00025 VATT1
034916,000203: 32,3157 35543 STCALL VCV
034917,000204: 32,3160 27107 INTEGRVS
034918,000205: 32,3161 77650 GOTO
034919,000206: 32,3162 65070 IGNALOOP
034920,000207:
034921,000208: 32,3163 54335 DDUMGOOD SLOAD SR
034922,000209: 32,3164 03423 ZOOMTIME
034923,000210: 32,3165 20617 14D
034924,000211: 32,3166 77621 BDSU
034925,000212: 32,3167 00041 TDEC1
034926,000213: 32,3170 27442 STOVL TIG # COMPUTE DISTANCE LANDING SITE WILL BE
034927,000214: 32,3171 03527 V # OUT OF LM'S ORBITAL PLANE AT IGNITION:
034928,000215: 32,3172 53435 VXV UNIT # SIGN IS + IF LANDING SITE IS TO THE
034929,000216: 32,3173 03521 R # RIGHT, NORTH; - IF TO THE LEFT, SOUTH.
034930,000217: 32,3174 72441 DOT SL1
034931,000218: 32,3175 03635 LAND
034932,000219: 32,3176 26627 R60INIT STOVL OUTOFPLN # INITIALIZATION FOR CALCMANU
034933,000220: 32,3177 03254 UNFC/2
034934,000221: 32,3200 02631 STORE R60VSAVE # STORE UNFC/2 TEMPORARILY IN R60SAVE
034935,000222: 32,3201 77776 EXIT
034936,000223: # ****************************************
034937,000224:
034938,000225: 32,3202 05353 IGNALGRT TC PHASCHNG # PREVENT REPEATING IGNALG
034939,000226: 32,3203 04024 OCT 04024
034940,000227:
034941,000228: 32,3204 44362 ASTNCLOK CS ASTNDEX
034942,000229: 32,3205 04616 TC BANKCALL
034943,000230: 32,3206 74664 CADR STCLOK2
034944,000231: 32,3207 15155 TCF ENDOFJOB # RETURN IN NEW JOB AND IN EBANK FIVE
034945,000232:
034946,000233: 32,3210 06037 ASTNRET TC INTPRET
034947,000234: 32,3211 47131 SSP RTB # GO PICK UP DISPLAY AT END OF R51:
034948,000235: 32,3212 02747 QMAJ # "PROCEED" WILL DO A FINE ALIGNMENT
034949,000236: 32,3213 65215 FCADR P63SPOT2 # "ENTER" WILL RETURN TO P63SPOT2
034950,000237: 32,3214 31135 R51P63
034951,000238: 32,3215 53575 P63SPOT2 VLOAD UNIT # INITIALIZE KALCMANU FOR BURN ATTITUDE
034952,000239: 32,3216 02631 R60VSAVE
034953,000240: 32,3217 27773 STOVL POINTVSM
034954,000241: 32,3220 06520 UNITX
034955,000242: 32,3221 03765 STORE SCAXIS
034956,000243: 32,3222 77776 EXIT
034957,000244:
034958,000245: 32,3223 35016 CAF EBANK7
034959,000246: 32,3224 54003 TS EBANK
034960,000247:
034961,000248: 32,3225 00004 INHINT
034962,000249: 32,3226 04674 TC IBNKCALL
034963,000250: 32,3227 40142 CADR PFLITEDB
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Page 789 |
034965,000252: 32,3230 00003 RELINT
034966,000253:
034967,000254: 32,3231 04616 TC BANKCALL
034968,000255: 32,3232 54123 CADR R60LEM
034969,000256:
034970,000257: 32,3233 05353 TC PHASCHNG # PREVENT RECALLING R60
034971,000258: 32,3234 04024 OCT 04024
034972,000259:
034973,000260: 32,3235 34746 P63SPOT3 CA BIT6 # IS THE LR ANTENNA IN POSITION 1 YET
034974,000261: 32,3236 00006 EXTEND
034975,000262: 32,3237 02033 RAND CHAN33
034976,000263: 32,3240 00006 EXTEND
034977,000264: 32,3241 13247 BZF P63SPOT4 # BRANCH IF ANTENNA ALREADY IN POSITION 1
034978,000265:
034979,000266: 32,3242 33254 CAF CODE500 # ASTRONAUT: PLEASE CRANK THE
034980,000267: 32,3243 04616 TC BANKCALL # SILLY THING AROUND
034981,000268: 32,3244 20623 CADR GOPERF1
034982,000269: 32,3245 16001 TCF GOTOPOOH # TERMINATE
034983,000270: 32,3246 13235 TCF P63SPOT3 # PROCEED SEE IF HE'S LYING
034984,000271:
034985,000272: 32,3247 04616 P63SPOT4 TC BANKCALL # ENTER INITIALIZE LANDING RADAR
034986,000273: 32,3250 67721 CADR SETPOS1
034987,000274:
034988,000275: 32,3251 04635 TC POSTJUMP # OFF TO SEE THE WIZARD ...
034989,000276: 32,3252 74126 CADR BURNBABY
034990,000277:
034991,000278: # ----------------------------------------
034992,000279:
034993,000280: # CONSTANTS FOR P63LM AND IGNALG
034994,000281:
034995,000282: 32,3253 02076 P63ADRES GENADR P63TABLE
034996,000283:
034997,000284: 32,3254 4362 ASTNDEX = MD1 # OCT 25; INDEX FOR CLOKTASK
034998,000285:
034999,000286: 32,3254 00500 CODE500 OCT 00500
035000,000287:
035001,000288: 32,3255 00035 30373 99999CON 2DEC 30479.7 B-24
035002,000289:
035003,000290: 32,3257 00004 01610 GUIDDURN 2DEC +66440 B-28 # GUIDDURN +6.64400314 E+2
035004,000291: 32,3261 00000 00010 DDUMCRIT 2DEC +8 B-28 # CRITERION FOR IGNALG CONVERGENCE
035005,000292:
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Page 790 |
035007,000294: # ----------------------------------------
035008,000295:
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Page 791 |
035010,000297: # ****************************************
035011,000298: # P68: LANDING CONFIRMATION
035012,000299: # ****************************************
035013,000300:
035014,000301: 31,2144 BANK 31
035015,000302: 31,2000 SETLOC F2DPS*31
035016,000303: 31,2000 BANK
035017,000304:
035018,000305: 31,2144 COUNT* $$/P6567
035019,000306:
035020,000307: 31,2144 05353 LANDJUNK TC PHASCHNG
035021,000308: 31,2145 04024 OCT 04024
035022,000309:
035023,000310: 31,2146 00004 INHINT
035024,000311: 31,2147 04616 TC BANKCALL # ZERO ATTITUDE ERROR
035025,000312: 31,2150 40153 CADR ZATTEROR
035026,000313:
035027,000314: 31,2151 04616 TC BANKCALL # SET 5 DEGREE DEADBAND
035028,000315: 31,2152 40127 CADR SETMAXDB
035029,000316:
035030,000317: 31,2153 06037 TC INTPRET # TO INTERPRETIVE AS TIME IS NOT CRITICAL
035031,000318: 31,2154 43014 SET CLEAR
035032,000319: 31,2155 04067 SURFFLAG
035033,000320: 31,2156 04666 LETABORT
035034,000321: 31,2157 77214 SET VLOAD
035035,000322: 31,2160 05062 APSFLAG
035036,000323: 31,2161 01221 RN
035037,000324: 31,2162 16032 STODL ALPHAV
035038,000325: 31,2163 01235 PIPTIME
035039,000326: 31,2164 45014 SET CALL
035040,000327: 31,2165 01463 LUNAFLAG
035041,000328: 31,2166 26351 LAT-LONG
035042,000329: 31,2167 77201 SETPD VLOAD # COMPUTE RLS AND STORE IT AWAY
035043,000330: 31,2170 00001 0
035044,000331: 31,2171 01221 RN
035045,000332: 31,2172 65352 VSL2 PDDL
035046,000333: 31,2173 01235 PIPTIME
035047,000334: 31,2174 45006 PUSH CALL
035048,000335: 31,2175 51670 R-TO-RP
035049,000336: 31,2176 02023 STORE RLS
035050,000337: 31,2177 77776 EXIT
035051,000338: 31,2200 32215 CAF V06N43* # ASTRONAUT: NOW LOOK WHERE YOU ENDED UP
035052,000339: 31,2201 04616 TC BANKCALL
035053,000340: 31,2202 20476 CADR GOFLASH
035054,000341: 31,2203 16001 TCF GOTOPOOH # TERMINATE
035055,000342: 31,2204 12206 TCF +2 # PROCEED
035056,000343: 31,2205 12200 TCF -5 # RECYCLE
035057,000344:
035058,000345: 31,2206 06037 TC INTPRET
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Page 792 |
035060,000347: 31,2207 77775 VLOAD # INITIALIZE GSAV AND (USING REFMF)
035061,000348: 31,2210 06520 UNITX # YNBSAV, ZNBSAV AND ATTFLAG FOR P57
035062,000349: 31,2211 36231 STCALL GSAV
035063,000350: 31,2212 33506 REFMF
035064,000351: 31,2213 77776 EXIT
035065,000352:
035066,000353: 31,2214 16001 TCF GOTOPOOH # ASTRONAUT: PLEASE SELECT P57
035067,000354:
035068,000355: 31,2215 01453 V06N43* VN 0643
035069,000356:
End of include-file THE_LUNAR_LANDING.agc. Parent file is MAIN.agc