Source Code
|
These source-code files are part of a reconstructed copy of Luminary 69/2,
the flown, final release of the Apollo 10 Lunar Module (LM) Apollo Guidance Computer (AGC) software.
The reconstruction is based on the source code of Luminary 69 — i.e., the
initial, unflown version, "revision 0" — of which
a contemporary listing was available. The code was then updated by incorporating the
differences between Luminary 69 and Luminary 69/2, known from other contemporary
documentation. The only such difference is the implementation in
Luminary 69/2 of the "R-2 Lunar Potential Model", the source code for which was taken
from program Luminary 99/1 (Apollo 11 LM), of which a contemporary listing was also available.
Finally, the now-reconstructed Luminary 69/2 was then validated by assembling it to
executable form and verifying that its memory banks had the correct checksums,
known from still other contemporary documentation.
Note that page numbers in the reconstructed code match those in the original Luminary 69
program listing, or in the ORBITAL INTEGRATION log section, in Luminary 99/1. Page numbers
would certainly differ somewhat in a contemporary Luminary 69/2 listing.
Moreover, annotations that were not present in the contemporary source code have been added
to the reconstructed code to justify each change in Luminary 69/2 relative to
Luminary 69. Here's a guide to the Apollo documentation referenced in those annotations:
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.
|
063529,000002: ## Copyright: Public domain.
063530,000003: ## Filename: KALMAN_FILTER.agc
063531,000004: ## Purpose: A section of LUM69 revision 2.
063532,000005: ## It is part of the reconstructed source code for the flown
063533,000006: ## version of the flight software for the Lunar Module's (LM)
063534,000007: ## Apollo Guidance Computer (AGC) for Apollo 10. The code has
063535,000008: ## been recreated from a copy of Luminary revsion 069, using
063536,000009: ## changes present in Luminary 099 which were described in
063537,000010: ## Luminary memos 75 and 78. The code has been adapted such
063538,000011: ## that the resulting bugger words exactly match those specified
063539,000012: ## for LUM69 revision 2 in NASA drawing 2021152B, which gives
063540,000013: ## relatively high confidence that the reconstruction is correct.
063541,000014: ## Reference: pp. 1465-1466
063542,000015: ## Assembler: yaYUL
063543,000016: ## Contact: Ron Burkey <info@sandroid.org>.
063544,000017: ## Website: www.ibiblio.org/apollo/index.html
063545,000018: ## Mod history: 2019-07-27 MAS Created from Luminary 69.
063546,000019:
|
|
Page 1465
|
063548,000021: 17,3700 E6,1522 EBANK= NO.UJETS
063549,000022: 16,3624 BANK 16
063550,000023: 16,2000 SETLOC DAPS1
063551,000024: 16,2000 BANK
063552,000025:
063553,000026: 16,3624 COUNT* $$/DAP
063554,000027:
063555,000028: 16,3624 34752 RATELOOP CA TWO
063556,000029: 16,3625 55742 TS DAPTEMP6
063557,000030: 16,3626 60000 DOUBLE
063558,000031: 16,3627 54002 TS Q
063559,000032: 16,3630 51742 INDEX DAPTEMP6
063560,000033: 16,3631 11524 CCS TJP
063561,000034: 16,3632 13634 TCF +2
063562,000035: 16,3633 13653 TCF LOOPRATE
063563,000036: 16,3634 63714 AD -100MST6
063564,000037: 16,3635 00006 EXTEND
063565,000038: 16,3636 63672 BZMF SMALLTJU
063566,000039: 16,3637 51742 INDEX DAPTEMP6
063567,000040: 16,3640 11524 CCS TJP
063568,000041: 16,3641 33714 CA -100MST6
063569,000042: 16,3642 13644 TCF +2
063570,000043: 16,3643 43714 CS -100MST6
063571,000044: 16,3644 51742 INDEX DAPTEMP6
063572,000045: 16,3645 27524 ADS TJP
063573,000046: 16,3646 51742 INDEX DAPTEMP6
063574,000047: 16,3647 11524 CCS TJP
063575,000048: 16,3650 43600 CS -100MS # 0.1 AT 1
063576,000049: 16,3651 13653 TCF +2
063577,000050: 16,3652 33600 CA -100MS
063578,000051: 16,3653 00006 LOOPRATE EXTEND
063579,000052: 16,3654 51742 INDEX DAPTEMP6
063580,000053: 16,3655 71521 MP NO.PJETS
063581,000054: 16,3656 30001 CA L
063582,000055: 16,3657 51742 INDEX DAPTEMP6
063583,000056: 16,3660 55735 TS DAPTEMP1 # SIGNED TORQUE AT 1 JET-SEC FOR FILTER
063584,000057: 16,3661 00006 EXTEND
063585,000058: 16,3662 74742 MP BIT10 # RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC
063586,000059: 16,3663 00006 EXTEND
063587,000060: 16,3664 63715 BZMF NEGTORK
063588,000061: 16,3665 50002 STORTORK INDEX Q # INCREMENT DOWNLIST REGISTER.
063589,000062: 16,3666 27513 ADS DOWNTORK # NOTE: NOT INITIALIZED; OVERFLOWS.
063590,000063:
063591,000064: 16,3667 11742 CCS DAPTEMP6
063592,000065: 16,3670 13625 TCF RATELOOP +1
063593,000066: 16,3671 13701 TCF ROTORQUE
063594,000067: 16,3672 34755 SMALLTJU CA ZERO
063595,000068: 16,3673 51742 INDEX DAPTEMP6
063596,000069: 16,3674 57524 XCH TJP
063597,000070: 16,3675 00006 EXTEND
|
|
Page 1466
|
063599,000072: 16,3676 74760 MP ELEVEN # 10.24 PLUS
063600,000073: 16,3677 30001 CA L
063601,000074: 16,3700 13653 TCF LOOPRATE
063602,000075: 16,3701 31736 ROTORQUE CA DAPTEMP2
063603,000076: 16,3702 61737 AD DAPTEMP3
063604,000077: 16,3703 00006 EXTEND
063605,000078: 16,3704 71532 MP 1JACCR
063606,000079: 16,3705 55745 TS JETRATER
063607,000080: 16,3706 41737 CS DAPTEMP3
063608,000081: 16,3707 61736 AD DAPTEMP2
063609,000082: 16,3710 00006 EXTEND
063610,000083: 16,3711 71531 MP 1JACCQ
063611,000084: 16,3712 55744 TS JETRATEQ
063612,000085: 16,3713 12305 TCF BACKP
063613,000086: 16,3714 77537 -100MST6 DEC -160 B-14
063614,000087:
063615,000088: 16,3715 40000 NEGTORK COM
063616,000089: 16,3716 24002 INCR Q
063617,000090: 16,3717 13665 TCF STORTORK
063618,000091:
063619,000092:
End of include-file KALMAN_FILTER.agc. Parent file is MAIN.agc