Source Code
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This is an attempt to recreate Luminary 99 Rev 2, otherwise known as LUM99R2, from Luminary 99 Rev 1 and ephemeris data from Luminary 116. The differences are confined to the last 10-12 lines of the CONTROLLED CONSTANTS. Luminary 99 Rev 1 source-code was transcribed from a printout in the MIT Museum, while Luminary 116 source code was transcribed from a printout belonging to Don Eyles. AGC developer James Kernan, the "rope mother" for the Apollo 11 Lunar Module's AGC, explains as follows: "At the last minute, Dan Lickly, our chief engineer, appeared with ephemerides updates and it took two tries to get it right. The result was that we created Lum99 Revision 1 and Lum99 Revision 2." It is suspected that the former is what's in the MIT Museum, and the latter is what we are trying to recreate here. As for which revision actually flew in Apollo 11, all of the other available surviving evidence points to Rev 1 rather than to Rev 2, so we're just not sure! |
014994,000002: ## Copyright: Public domain.
014995,000003: ## Filename: KALCMANU_STEERING.agc
014996,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
014997,000005: ## It is part of the source code for the Lunar Module's (LM)
014998,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
014999,000007: ## Assembler: yaYUL
015000,000008: ## Contact: Ron Burkey <info@sandroid.org>.
015001,000009: ## Website: www.ibiblio.org/apollo.
015002,000010: ## Pages: 365-369
015003,000011: ## Mod history: 2009-05-17 RSB Adapted from the corresponding
015004,000012: ## Luminary131 file, using page
015005,000013: ## images from Luminary 1A.
015006,000014: ## 2011-01-06 JL Added missing comment characters.
015007,000015: ## 2016-12-14 RSB Proofed text comments with octopus/ProoferComments
015008,000016: ## and corrected the errors found.
015009,000017: ## 2017-03-03 RSB Snapshot of Luminary 99 Rev 1.
015010,000018: ## 2017-03-07 RSB Removed yaYUL workaround that no longer
015011,000019: ## seems to be needed.
015012,000020: ## 2017-03-17 RSB Comment-text fixes identified in diff'ing
015013,000021: ## Luminary 99 vs Comanche 55.
015014,000022:
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Page 365 |
015016,000024: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
015017,000025:
015018,000026: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
015019,000027:
015020,000028: 22,3003 E6,1707 EBANK= TTEMP
015021,000029:
015022,000030: 22,3003 04616 NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
015023,000031: 22,3004 54262 CADR ISITAUTO # ONLY
015024,000032: 22,3005 10000 CCS A
015025,000033: 22,3006 12730 TCF NOGO -2
015026,000034: 22,3007 06037 NEWANGL TC INTPRET
015027,000035: 22,3010 75160 AXC,1 AXC,2
015028,000036: 22,3011 03246 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
015029,000037: 22,3012 02230 KEL # STABLE MEMBER AXES
015030,000038: 22,3013 77624 CALL
015031,000039: 22,3014 44312 MXM3
015032,000040: 22,3015 45575 VLOAD STADR
015033,000041: 22,3016 50514 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
015034,000042: 22,3017 77626 STADR
015035,000043: 22,3020 50522 STOVL MIS +6D
015036,000044: 22,3021 77626 STADR
015037,000045: 22,3022 74530 STORE MIS
015038,000046: 22,3023 45160 AXC,1 CALL
015039,000047: 22,3024 03246 MIS
015040,000048: 22,3025 44654 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
015041,000049: 22,3026 77634 RTB
015042,000050: 22,3027 21620 V1STO2S
015043,000051: 22,3030 03304 STORE NCDU # NEW CDU ANGLES
015044,000052: 22,3031 77414 BONCLR EXIT
015045,000053: 22,3032 01215 CALCMAN2
015046,000054: 22,3033 45122 MANUSTAT # TO START MANEUVER
015047,000055: 22,3034 34752 CAF TWO # +0 OTHERWISE
015048,000056: 22,3035 55272 INCRDCDU TS SPNDX
015049,000057: 22,3036 51272 INDEX SPNDX
015050,000058: 22,3037 31676 CA BCDU # INITIAL CDU ANGLES
015051,000059: 22,3040 00006 EXTEND # OR PREVIOUS DESIRED CDU ANGLES
015052,000060: 22,3041 51272 INDEX SPNDX
015053,000061: 22,3042 21703 MSU NCDU
015054,000062: 22,3043 00006 EXTEND
015055,000063: 22,2000 SETLOC KALCMON1
015056,000064: 22,2000 BANK
015057,000065:
015058,000066: 22,3044 73121 MP DT/TAU
015059,000067: 22,3045 10000 CCS A # CONVERT TO 2S COMPLEMENT
015060,000068: 22,3046 64753 AD ONE
015061,000069: 22,3047 13051 TCF +2
015062,000070: 22,3050 40000 COM
015063,000071: 22,3051 51272 INDEX SPNDX
015064,000072: 22,3052 55640 TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
015065,000073: 22,3053 51272 INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
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Page 366 |
015067,000075: 22,3054 31703 CA NCDU # BY LEM DAP
015068,000076: 22,3055 51272 INDEX SPNDX
015069,000077: 22,3056 57676 XCH BCDU
015070,000078: 22,3057 51272 INDEX SPNDX
015071,000079: 22,3060 55635 TS CDUXD
015072,000080: 22,3061 11272 CCS SPNDX
015073,000081: 22,3062 13035 TCF INCRDCDU # LOOP FOR THREE AXES
015074,000082:
015075,000083: 22,3063 00003 RELINT
015076,000084:
015077,000085: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
015078,000086:
015079,000087: 22,3064 03075 TMANUCHK TC TIMECHK
015080,000088: 22,3065 13170 TCF CONTMANU
015081,000089: 22,3066 34753 CAF ONE
015082,000090: 22,3067 00004 MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC
015083,000091: 22,3070 05203 TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP
015084,000092: 22,3071 E6,1707 EBANK= TTEMP
015085,000093: 22,3071 03213 44066 2CADR MANUSTOP
015086,000094:
015087,000095: 22,3073 00003 RELINT
015088,000096: 22,3074 15155 TCF ENDOFJOB
015089,000097:
015090,000098: 22,3075 00006 TIMECHK EXTEND
015091,000099: 22,3076 40025 DCS TIME2
015092,000100: 22,3077 53710 DXCH TTEMP
015093,000101: 22,3100 00006 EXTEND
015094,000102: 22,3101 31734 DCA TM
015095,000103: 22,3102 21710 DAS TTEMP
015096,000104: 22,3103 11707 CCS TTEMP
015097,000105: 22,3104 00002 TC Q
015098,000106: 22,3105 13107 TCF +2
015099,000107: 22,3106 13117 TCF 2NDRETRN
015100,000108: 22,3107 11710 CCS TTEMP +1
015101,000109: 22,3110 00002 TC Q
015102,000110: 22,3111 13113 TCF MANUOFF
015103,000111: 22,3112 40000 COM
015104,000112: 22,3113 63166 MANUOFF AD ONESEK +1
015105,000113: 22,3114 00006 EXTEND
015106,000114: 22,3115 63117 BZMF 2NDRETRN
015107,000115: 22,3116 24002 INCR Q
015108,000116: 22,3117 24002 2NDRETRN INCR Q
015109,000117: 22,3120 00002 TC Q
015110,000118:
015111,000119: 22,3121 03146 DT/TAU DEC .1
015112,000120:
015113,000121: 22,3122 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
015114,000122: 22,3123 00006 EXTEND # FOR AUTOMATIC MANEUVERS
015115,000123: 22,3124 30025 DCA TIME2
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Page 367 |
015117,000125: 22,3125 21734 DAS TM # TM+T0 MANEUVER COMPLETION TIME
015118,000126: 22,3126 00006 EXTEND
015119,000127: 22,3127 43166 DCS ONESEK
015120,000128: 22,3130 21734 DAS TM # (TM+T0)-1
015121,000129: 22,3131 00004 INHINT
015122,000130: 22,3132 34752 CAF TWO
015123,000131: 22,3133 55701 RATEBIAS TS KSPNDX
015124,000132: 22,3134 60000 DOUBLE
015125,000133: 22,3135 55702 TS KDPNDX
015126,000134: 22,3136 50000 INDEX A
015127,000135: 22,3137 31725 CA BRATE
015128,000136: 22,3140 51701 INDEX KSPNDX # STORE MANEUVER RATE IN
015129,000137: 22,3141 55643 TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD
015130,000138: 22,3142 00006 EXTEND
015131,000139: 22,3143 63145 BZMF +2 # COMPUTE ATTITUDE ERROR
015132,000140: 22,3144 40000 COM # OFFSET = (WX)ABS(WX)/2AJX
015133,000141: 22,3145 00006 EXTEND # WHERE AJX= 2-JET ACCELERATION
015134,000142: 22,3146 73167 MP BIASCALE # = -1/16
015135,000143: 22,3147 00006 EXTEND
015136,000144: 22,3150 51702 INDEX KDPNDX
015137,000145: 22,3151 71725 MP BRATE
015138,000146: 22,3152 00006 EXTEND
015139,000147: 22,3153 51701 INDEX KSPNDX
015140,000148: 22,3154 11530 DV 1JACC # = AJX $ 90 DEG/SEC-SEC
015141,000149: 22,3155 51701 INDEX KSPNDX
015142,000150: 22,3156 55277 TS DELPEROR # $ 180 DEG
015143,000151: 22,3157 11701 CCS KSPNDX
015144,000152: 22,3160 13133 TCF RATEBIAS
015145,000153:
015146,000154: 22,3161 30025 CA TIME1
015147,000155: 22,3162 63166 AD ONESEK +1
015148,000156: 22,3163 57706 XCH NEXTIME
015149,000157: 22,3164 13034 TCF INCRDCDU -1
015150,000158:
015151,000159: 22,3165 00000 ONESEK DEC 0 B-14
015152,000160: 22,3166 00144 DEC 100 B-14
015153,000161:
015154,000162: 22,3167 75777 BIASCALE OCT 75777 # = -1/16
015155,000163:
015156,000164: 22,3170 40025 CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
015157,000165: 22,3171 61706 AD NEXTIME
015158,000166: 22,3172 10000 CCS A
015159,000167: 22,3173 64753 AD ONE
015160,000168: 22,3174 13177 TCF MANUCALL
015161,000169: 22,3175 64735 AD NEGMAX
015162,000170: 22,3176 40000 COM
015163,000171: 22,3177 00004 MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
015164,000172: 22,3200 05203 TC WAITLIST
015165,000173: 22,3201 E6,1707 EBANK= TTEMP
015166,000174: 22,3201 03206 44066 2CADR UPDTCALL
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Page 368 |
015168,000176: 22,3203 33166 CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
015169,000177: 22,3204 27706 ADS NEXTIME
015170,000178: 22,3205 15155 TCF ENDOFJOB
015171,000179:
015172,000180: 22,3206 37714 UPDTCALL CAF PRIO26 # SATELLITE PROGRAM TO CALL FOR UPDATE
015173,000181: 22,3207 05105 TC FINDVAC # OF STEERING COMMANDS
015174,000182: 22,3210 E6,1707 EBANK= TTEMP
015175,000183: 22,3210 03003 44066 2CADR NEWDELHI
015176,000184:
015177,000185: 22,3212 05261 TC TASKOVER
015178,000186:
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Page 369 |
015180,000188: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
015181,000189:
015182,000190: 22,3213 34755 MANUSTOP CAF ZERO # ZERO MANEUVER RATES
015183,000191: 22,3214 55642 TS DELDCDU2
015184,000192: 22,3215 55645 TS OMEGARD
015185,000193: 22,3216 55301 TS DELREROR
015186,000194: 22,3217 55641 TS DELDCDU1
015187,000195: 22,3220 55644 TS OMEGAQD
015188,000196: 22,3221 55300 TS DELQEROR
015189,000197: 22,3222 30323 CA CPSI # SET DESIRED GIMBAL ANGLES TO
015190,000198: 22,3223 55637 TS CDUZD # DESIRED FINAL GIMBAL ANGLES
015191,000199: 22,3224 30322 CA CTHETA
015192,000200: 22,3225 55636 TS CDUYD
015193,000201: 22,3226 30321 ENDROLL CA CPHI # NO FINAL YAW
015194,000202: 22,3227 55635 TS CDUXD
015195,000203: 22,3230 34755 CAF ZERO
015196,000204: 22,3231 55643 TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU
015197,000205: 22,3232 55640 TS DELDCDU # GIMBAL LOCK ORIGINALLY
015198,000206: 22,3233 55277 TS DELPEROR
015199,000207: 22,3234 31311 GOODMANU CA ATTPRIO # RESTORE USERS PRIO
015200,000208: 22,3235 54063 TS NEWPRIO
015201,000209:
015202,000210: 22,3236 34755 CA ZERO # ZERO ATTCADR
015203,000211: 22,3237 53310 DXCH ATTCADR
015204,000212:
015205,000213: 22,3240 05116 TC SPVAC # RETURN TO USER
015206,000214:
015207,000215: 22,3241 05261 TC TASKOVER
015208,000216:
015209,000217:
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc